fix adm control #32
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fix adm control #32
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tpoignonec
commented
Aug 21, 2024
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tpoignonec
commented
- add singularity detection
- revert to normal inverses (as opposed to choleski decomposition-based ones)
- various fixes
tpoignonec
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bug
Test Results562 tests ±0 359 ✅ - 8 1s ⏱️ ±0s For more details on these failures, see this check. Results for commit 13b975a. ± Comparison against base commit 8175fc1. ♻️ This comment has been updated with latest results. |
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Aug 23, 2024
* fix adm rule * revert impedance rule to normal inverse() (instead of LLT-based inverses) * increase alpha pinv * check for singularities in impedance control * prepare admittance for singularity checks * add commented alternative method for acc estimation * fix missing var in impedance rule * change start position * use "end_effector_frame" instead of control frame (cherry picked from commit 5921f9a)
tpoignonec
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Aug 23, 2024
* fix adm rule * revert impedance rule to normal inverse() (instead of LLT-based inverses) * increase alpha pinv * check for singularities in impedance control * prepare admittance for singularity checks * add commented alternative method for acc estimation * fix missing var in impedance rule * change start position * use "end_effector_frame" instead of control frame (cherry picked from commit 5921f9a) Co-authored-by: Thibault Poignonec <79221188+tpoignonec@users.noreply.github.com>
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