Mujoco examples

[euyniy]

I tried gravity compensation using v1 mjcf and openarm_can python bindings on the openarm hardware, and it works fine.

Just in case anyone wanted to test out:
https://github.com/euyniy/openarm_mujoco/blob/grav_comp/gravity_compensation.py

The functionality is almost exactly the same as in the urdf+cpp version of openarm:
https://github.com/enactic/openarm_teleop/blob/main/control/gravity_compasation.cpp

[dt1729]

I was reviewing the code and would like to clarify the gravity compensation logic. Generally, to write gravity compensation, one would obtain the Coriolis and mass matrices and compute the inverse Jacobian to determine the torque. In this implementation, are you simply leveraging mj_forward to obtain the forces on the motors after one simulation time step and then compensating in the real controller?

[euyniy]

The snippet I attached is a minimal floaty example intended for quick teleop leader end usage.
More on openarm dynamics can be found here
https://github.com/enactic/openarm_teleop/blob/main/src/controller/dynamics.cpp