Support admittance control - #598

Merged

JohnTGZ merged 24 commits into

jt/add-admittance-mode

Aug 5, 2026

Commits on Jul 28, 2026

Add option for admittance mode
JohnTGZ
committed
ee461e6
add mass_for_critical_damping parameter
JohnTGZ
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1c28bdb
add test script for admittance control
JohnTGZ
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03bef8b
increase cartesian translational limits
JohnTGZ
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ca44018
accomodate actions with and without force torque sensors
JohnTGZ
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ca81cf5
modify test_robot_control_bridge script for sending joint targets
JohnTGZ
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b8e6093
change default values for stiffness and damping parameters
JohnTGZ
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b292ab0
linting
JohnTGZ
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3e7aba7
1. Update Interpolation method to use REFLEXXES instead of LINEAR_INTERPOLATION, which should respect kinematic constraints.
JohnTGZ
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1c961ed
update testing script
JohnTGZ
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fdf2337
linting
JohnTGZ
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1c10d91
update joint/cartesian position/velocity limits
JohnTGZ
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922f873

Commits on Jul 29, 2026

Commits on Jul 30, 2026

update cartesian velocity limits
JohnTGZ
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0f166d6
update default stiffness and damping parameters for joint impedance control
JohnTGZ
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939dbf9
linting
JohnTGZ
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3bfbd50

Commits on Aug 3, 2026

update changelog
JohnTGZ
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91cb8a5
clean up test scripts
JohnTGZ
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6b3a270
set USE_FIXED_CONTROL_PARAMETERS to ON by default
JohnTGZ
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de3291a
linting
JohnTGZ
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ac8d395

Commits on Aug 4, 2026