Add cartesian admittance controller (beta version)#9

Merged

tpoignonec merged 73 commits intomainfrom

add_cartesian_admittance_controller

Apr 25, 2024

Commits on Sep 19, 2023

Commits on Sep 20, 2023

Commits on Oct 29, 2023

Integration tests and debug (#11)

tpoignonec
and
iris@I2RM_PC2
authored

Commits on Oct 30, 2023

fix gravity compensation

iris@I2RM_PC2
authored and
iris@I2RM_PC2
committed
reduce stiffness

iris@I2RM_PC2
authored and
iris@I2RM_PC2
committed
cleanup config

iris@I2RM_PC2
authored and
iris@I2RM_PC2
committed

Commits on Feb 12, 2024

set velocities to zero in case of errors
iris2
committed

Commits on Mar 7, 2024

log and publish controller state
iris2
committed

Commits on Mar 11, 2024

add: stamp status msg
Thibault Poignonec
committed
add filter velocity
Thibault Poignonec
committed
extra linting
Thibault Poignonec
committed
add joint commands to cartesian ctrl status
Thibault Poignonec
committed

Commits on Mar 26, 2024

filter position as well as state
Thibault Poignonec
committed
add cutoff freqs to parameters
Thibault Poignonec
committed
linting
Thibault Poignonec
committed
add cmd filter
Thibault Poignonec
committed
remove test for now (TODO)
Thibault Poignonec
committed

Commits on Apr 24, 2024

Revert "remove test for now (TODO)"
Thibault Poignonec
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add deps to "hardware_interface_testing"
Thibault Poignonec
committed

Commits on Apr 25, 2024

fix test config
Thibault Poignonec
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add test verbose
Thibault Poignonec
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remove commented verbose
Thibault Poignonec
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fix tests
Thibault Poignonec
committed
clean-up files
Thibault Poignonec
committed