fix adm control#32

Merged

tpoignonec merged 10 commits intomainfrom

tpoignonec-fix_adm_control

Aug 23, 2024

Commits on Aug 20, 2024

fix adm rule
Thibault Poignonec
committed
revert impedance rule to normal inverse() (instead of LLT-based inverses)
Thibault Poignonec
committed

Commits on Aug 21, 2024

increase alpha pinv
Thibault Poignonec
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check for singularities in impedance control
Thibault Poignonec
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prepare admittance for singularity checks
Thibault Poignonec
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add commented alternative method for acc estimation
Thibault Poignonec
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fix missing var in impedance rule
Thibault Poignonec
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Commits on Aug 22, 2024

change start position
Thibault Poignonec
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oups...
Thibault Poignonec
committed

Commits on Aug 23, 2024

use "end_effector_frame" instead of control frame
Thibault Poignonec
committed