Create Generic Framework Integration Class (ROS2 Support)

[cagataycali]

Description

Currently, integration is based on LeRobot for sending actions and getting camera frames. We need to create a generic class that can be implemented by various input/output frameworks that end customers may require. This would facilitate integration with the ROS2 framework, which in turn simplifies SIL/HIL with Isaac Sim simulation.

Current Issue

Integration is tightly coupled to LeRobot framework only.

References

• https://github.com/NVIDIA-ISAAC-ROS/isaac_manipulator/tree/release-4.0/isaac_manipulator_isaac_sim_utils
• https://github.com/NVIDIA-ISAAC-ROS/isaac_manipulator/tree/release-4.0/isaac_manipulator_ros_python_utils

Implementation Details

1. Create an abstract base class for framework integration
2. Implement LeRobot adapter using the generic class
3. Add ROS2 adapter following NVIDIA's isaac_manipulator examples
4. Support pluggable framework adapters

Acceptance Criteria

• Generic framework integration interface defined
• LeRobot implementation refactored to use generic class
• ROS2 adapter implemented
• Examples for both LeRobot and ROS2 workflows
• Documentation for creating custom framework adapters
• Integration tests for both frameworks

Priority

High - Enables broader ecosystem support