Add Differential IK controller

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Add Differential IK controller #872

Closed cgokmen closed 1 week ago

cgokmen commented 1 week ago

As in https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py it should allow fast computation of IK control instead of Lula.

cgokmen commented 1 week ago

Completed in #858