Skip to content

Commit

Permalink
computed double diagonalization for damping
Browse files Browse the repository at this point in the history
  • Loading branch information
@Hydran00
Hydran00 committed Jan 30, 2025
1 parent c0a72fe commit ce2b683
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion effort_controller
Submodule effort_controller updated 53 files
+0 −1 README.md
+6 −1 cartesian_impedance_controller/CMakeLists.txt
+1 −0 cartesian_impedance_controller/README.md
+20 −14 cartesian_impedance_controller/include/cartesian_impedance_controller/cartesian_impedance_controller.h
+5 −4 cartesian_impedance_controller/package.xml
+81 −36 cartesian_impedance_controller/src/cartesian_impedance_controller.cpp
+26 −0 debug_msg/CMakeLists.txt
+6 −0 debug_msg/msg/Debug.msg
+25 −0 debug_msg/package.xml
+5 −2 effort_controller_base/CMakeLists.txt
+96 −0 effort_controller_base/include/effort_controller_base/chainjnttojacdotsolver.hpp
+56 −0 effort_controller_base/include/effort_controller_base/double_diagonalization.hpp
+16 −10 effort_controller_base/include/effort_controller_base/effort_controller_base.h
+3 −3 effort_controller_base/include/effort_controller_base/pseudo_inversion.h
+231 −0 effort_controller_base/src/chainjnttojacdotsolver.cpp
+35 −33 effort_controller_base/src/effort_controller_base.cpp
+0 −72 franka_coppelia_hw/CMakeLists.txt
+0 −36 franka_coppelia_hw/README.md
+0 −112 franka_coppelia_hw/bringup/launch/franka_coppelia_hw.launch.py
+0 −78 franka_coppelia_hw/config/franka_controllers_coppelia.yaml
+0 −4 franka_coppelia_hw/config/kinematics.yaml
+0 −178 franka_coppelia_hw/config/ompl_planning.yaml
+0 −271 franka_coppelia_hw/config/ros_controllers.yaml
+ − franka_coppelia_hw/fraka_eff.ttt
+0 −9 franka_coppelia_hw/franka_coppelia_hw.xml
+0 −258 franka_coppelia_hw/hardware/HWInterface.cpp
+0 −98 franka_coppelia_hw/hardware/include/franka_coppelia_hw/HWInterface.hpp
+0 −59 franka_coppelia_hw/hardware/include/franka_coppelia_hw/visibility_control.h
+0 −178 franka_coppelia_hw/meshes/visual/finger.dae
+0 −403 franka_coppelia_hw/meshes/visual/hand.dae
+0 −928 franka_coppelia_hw/meshes/visual/link0.dae
+0 −103 franka_coppelia_hw/meshes/visual/link1.dae
+0 −103 franka_coppelia_hw/meshes/visual/link2.dae
+0 −328 franka_coppelia_hw/meshes/visual/link3.dae
+0 −328 franka_coppelia_hw/meshes/visual/link4.dae
+0 −257 franka_coppelia_hw/meshes/visual/link5.dae
+0 −1,307 franka_coppelia_hw/meshes/visual/link6.dae
+0 −632 franka_coppelia_hw/meshes/visual/link7.dae
+0 −37 franka_coppelia_hw/package.xml
+0 −229 franka_coppelia_hw/rviz/visualize_franka.rviz
+0 −5 franka_coppelia_hw/urdf/hand.urdf.xacro
+0 −93 franka_coppelia_hw/urdf/hand.xacro
+0 −526 franka_coppelia_hw/urdf/panda.urdf
+0 −47 franka_coppelia_hw/urdf/panda_arm.ros2_control.xacro
+0 −18 franka_coppelia_hw/urdf/panda_arm.urdf.xacro
+0 −349 franka_coppelia_hw/urdf/panda_arm.xacro
+0 −39 franka_coppelia_hw/urdf/test.xacro
+6 −1 joint_impedance_controller/CMakeLists.txt
+20 −12 joint_impedance_controller/include/joint_impedance_controller/joint_impedance_controller.h
+0 −32 joint_impedance_controller/include/joint_impedance_controller/pseudo_inversion.h
+5 −7 joint_impedance_controller/joint_impedance_controller_plugin.xml
+5 −4 joint_impedance_controller/package.xml
+30 −37 joint_impedance_controller/src/joint_impedance_controller.cpp

0 comments on commit ce2b683

Please sign in to comment.