Cartesian Impedance Controller for Sawyer


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Has anybody implemented a cartesian space impedance controller for Sawyer?

Ideallly I would like to have a controller module which accepts desired transforms to a desired cartesian endeffector position and "attaches" a virtual spring-damper system between the endeffector and that specified cartesian position. In addition to that one would need a way to specify the nullspace configuration.

Thank you.


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