Isaacsim #119
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…les vel as dictionary
generalized target generation
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This PR introduces an Isaac Sim interface for abr_control, enabling use of abr_control controllers within NVIDIA Isaac Sim.
isaacsim_config.py:
Provides a RobotConfig implementation for robots loaded in Isaac Sim, enabling kinematics and dynamics computations consistent with the simulation.
nv_isaacsim.py: Extends the base Interface class with Isaac Sim–specific functionality, allowing joint commands and feedback to flow between abr_control and the simulator.
added three examples demonstrating force control with the new interface.