Add Trossen arm MuJoCo repo as submodule#1
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Apr 29, 2026
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Looks pretty good, but the motions are a bit odd since the robot hits the surface and pushes against it. Perhaps it would be better to import SimpleController from the PandaDemo.lf file and create a similar CSV file that runs through a more reasonable set of motions?
Also, would it be possible to start with initial pose where the robot is folded up, as it is in 545Q?
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Adds TrossenRobotics/trossen_arm_mujoco as a submodule (~56MB).
The Trossen model is significantly more accurate than the Menagerie
trossen_wx250s model for the WidowX — comparison across 10 poses and
200 data points showed elbow divergence of up to 0.71 radians between
the two. Since Trossen builds the physical robot, their model is ground
truth and the better choice for regression testing.