Feature/fri wrench control #179
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…controller, +configs
…ng published at the corrent time of configuration, fix cart damping min value
…fri_wrench_control
Svastits
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Svastits
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Svastits
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controllers/wrench_controller/include/wrench_controller/visibility_control.h
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kuka_sunrise_fri_driver/config/cartesian_impedance_controller_config.yaml
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PR can be merged after:
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I will approve after testing on real hardware |
added 2 commits
August 29, 2024 14:59
This reverts commit c8ef56e.
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…fri_wrench_control
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Created a wrench forward controller, a controller for setting the cartesian impedance values, modified the robot application to accept cartesian impedance control mode. Not tested on real robot yet.