Package fr3_impedance_controller_real in nix env

Including all deps. Tested with nix develop then roslaunch franka_example_controllers ....

Issue with libfranka version, in the end needed to use fetchGithub in Nix to get proper files.

Closes #7 (closed)

assets/model/double_pendulum.urdf

+<?xml version="1.0" ?>
+<robot name="double_pendulum">
+
+  <!-- Material Definitions -->
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0" />
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 1.0 1.0" />
+  </material>
+  <material name="red">
+    <color rgba="1.0 0.0 0.0 1.0" />
+  </material>
+
+  <!-- Base link -->
+  <link name="base_link"/>
+
+  <!-- First link -->
+  <link name="link1">
+    <inertial>
+      <origin xyz="0 0 0.5" rpy="0 0 0"/>
+      <mass value="1.0"/>
+      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.04" iyz="0.0" izz="0.05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0.5" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 1.0"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.5" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Joint connecting base to first link -->
+  <joint name="joint1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <origin xyz="0 0 1.5" rpy="-1.5708 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="10.0" velocity="5.0" lower="-3.14" upper="3.14"/>
+  </joint>
+
+  <!-- Second link -->
+  <link name="link2">
+    <inertial>
+      <origin xyz="0 0 0.5" rpy="0 0 0"/>
+      <mass value="1.0"/>
+      <inertia ixx="0.07" ixy="0.0" ixz="0.0" iyy="0.06" iyz="0.0" izz="0.08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0.5" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 1.0"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.5" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Joint connecting first link to second link -->
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin xyz="0.1 0 1.0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="10.0" velocity="5.0" lower="-3.14" upper="3.14"/>
+  </joint>
+
+  <!-- TCP frame -->
+  <link name="tcp_link"/>
+  <joint name="tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 1.0"/>
+    <parent link="link2"/>
+    <child link="tcp_link"/>
+  </joint>
+</robot>