6-DoF Arm Peg Insertion Impedance Controller (C++)
Peg Insertion for the 6-DoF Arm — a real-time C++ controller. Captured/authored with force-torque sensor in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Demonstration clipfree preview
Left: real-world source footage. Right: a signal derived from it (inter-frame motion field or edge/feature map). Source & license are credited in the clip.
Preview
Free preview — no purchase requiredDeployment
CPU/GPU host deployment; 6GB VRAM (Jetson) required.
Frameworks
- OpenCVIsaac Sim
Hardware
- RTX A6000
Sensors
- force-torque sensortactile arraystereo camera
Specs
- GPU: 6GB VRAM (Jetson)
- Size: 973 KB
- Duration: 10s
- Validation loss 0.3059 after 60 epochs
- Isaac Sim compatible
Tags
$9
MIT license
6-dof-arm-peg-insertion-impedance-controller-c.zip · 973 KB
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