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[feat] Admittance Controller & Variable stiffness support
- #75
#75
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danielsanjosepro
merged 5 commits into
learnsyslab:main
learnsyslab/crisp_py:main
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KAIST-IRiS-Haptics-Telerobotics:feature/admittance-controller
KAIST-IRiS-Haptics-Telerobotics/crisp_py:feature/admittance-controller
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Apr 9, 2026
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[feat] Admittance Controller & Variable stiffness support
#75
danielsanjosepro
merged 5 commits into
learnsyslab:main
learnsyslab/crisp_py:main
from
KAIST-IRiS-Haptics-Telerobotics:feature/admittance-controller
KAIST-IRiS-Haptics-Telerobotics/crisp_py:feature/admittance-controller
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Commits
Commits on Apr 6, 2026
feat: integrate CartesianAdmittanceController into crisp_py
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domrachev03
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fix: update default admittance config with actual controller parameters
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151617d
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fix: temporaly disable controller config in admittance example
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ea74129
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refactor: remove manual enabling of variable admittance stiffness in admittance ctrl example
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Commits on Apr 9, 2026
fix: make admittance controller pubs & subs optional; Admittance-enabled FR3 robot config
domrachev03
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