Impedance control

[i-make-robots]

Is your feature request related to a problem? Please describe. Advanced robotic control for collaborative work should include impedence control

Describe the solution you'd like Add this as a feature to all existing simulated arms.

Additional context https://www.youtube.com/watch?v=IolG5V_skv8

[i-make-robots]

Effectively impedance is a mass-spring-damper model, common in game physics engines. The challenge is to implement such a system in the robot firmware AND in the simulation.

[i-make-robots]

https://robotics-explained.com/impedancecontrol

[i-make-robots]

https://www.youtube.com/watch?v=wDrH-nhsXos