Test

[student-0103]

Hey! nice work.

I'm developing a impedance controller as well, but the robot itself is not much available. Did you test the impedance controller in simulation or only in real life?

I wanna do it in simulation, is that possible?

[matthias-mayr]

Yes, we use the ROS version of the controller regularly in Gazebo, but also the base version directly in DART.

In ROS it is straight forward to use. If you already have your robot setup:

• install this repo in the catkin workspace
• add the provided YAML configuration to your controller configure
• adapt it to your robot, e.g. joint names and end-effector name
• make the controller_spawner start the controller. The default name in the YAML in the readme is CartesianImpedance_trajectory_controller

If that answered your question and you do not have additional ones on this topic, feel free to close the issue.