I am currently trying to realize a cartesian impedance controller, which realizes the behaviour of a 6-Dof Spring between a virtual set-point and...
Just a minor thing and maybe I am not right with that. I find the descritpions of mju_negPose and mju_neg_quat somewhat misleading or at least...
Hi Emo, I guess there is a typo in your equation. J'*xfrc_applied should be Jx'*xfrc_applied, I assume. Other than that, this post really helped...
Is there a way to programatically change the spring damper reference frame of a free joint, online during simulation ? The documentation states...
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