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🚧 add impedance controller node

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This commit is contained in:
Ilya Uraev 2023-08-02 16:57:01 +03:00
parent 115f01c023
commit 817dfeaa0f
7 changed files with 116 additions and 5 deletions
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5
rbs_simulation/mujoco_model/current_mj.xml
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@ -2,6 +2,9 @@
<compiler angle="radian" meshdir="meshes/"/>
<default/>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.9 0.9 0.9" rgb2="0.5 0.5 0.5" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.2" texture="texplane" texrepeat="1 1" texuniform="true"/>
<mesh name="base" file="base.stl"/>
<mesh name="shoulder" file="shoulder.stl"/>
<mesh name="upperarm" file="upperarm.stl"/>
@ -11,6 +14,8 @@
<mesh name="wrist3" file="wrist3.stl"/>
</asset>
<worldbody>
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
<geom name="floor" pos="0 0 -0.0" size="0 0 1" type="plane" material="matplane"/>
<geom quat="-1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="base"/>
<geom quat="-1 0 0 0" type="mesh" mesh="base"/>
<body name="shoulder_link" pos="0 0 0.1625" quat="0 0 0 1" >