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learnsyslab / crisp_py Public

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[feat] Admittance Controller & Variable stiffness support#75

Merged

danielsanjosepro merged 5 commits into

learnsyslab:mainlearnsyslab/crisp_py:mainfrom

KAIST-IRiS-Haptics-Telerobotics:feature/admittance-controllerKAIST-IRiS-Haptics-Telerobotics/crisp_py:feature/admittance-controllerCopy head branch name to clipboard

Apr 9, 2026

Conversation Commits5 (5)Checks Files changed

Merged

[feat] Admittance Controller & Variable stiffness support#75
danielsanjosepro merged 5 commits into
learnsyslab:mainfrom
KAIST-IRiS-Haptics-Telerobotics:feature/admittance-controller

Commits

Commits on Apr 6, 2026

feat: integrate CartesianAdmittanceController into crisp_py
domrachev03
committed
fix: update default admittance config with actual controller parameters
domrachev03
committed
fix: temporaly disable controller config in admittance example
domrachev03
committed
refactor: remove manual enabling of variable admittance stiffness in admittance ctrl example
domrachev03
committed

Commits on Apr 9, 2026

fix: make admittance controller pubs & subs optional; Admittance-enabled FR3 robot config
domrachev03
committed

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