How add an impedance controller in teleoperation

[206333308]

I now have a haptic device called omega7 ( As shown below ), and I have written its device file. Now I use it for teleoperation to operate the ur5e robotic arm in the simulation. I now want to add an impedance controller and use this controller to achieve better teleoperation. Where should I start to modify it. Thank you for your generous help

[206333308]

[kevin-thankyou-lin]

So you've written the device according to these docs and want to use an impedance controller? I'd create a file on the same level as the osc controller and inherit from the controller class. E.g.:

<other imports>

class ImpedanceController(Controller):
     ...
     <more functions>