Feature/fri wrench control#179

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krmihaly wants to merge 33 commits into

feature/fri_wrench_control

Commits on Aug 1, 2024

add forward wrench controller to kuka controllers
krmihaly
committed
add cartesian impedance controller for stifness/damping values
krmihaly
committed
add cart imp ctr mode, wrench cmd mode to fri_connection; use wrench controller, +configs
krmihaly
committed

Commits on Aug 2, 2024

seperate joint and cart stiffness and damping, fix s/d values not being published at the corrent time of configuration, fix cart damping min value
krmihaly
committed

Commits on Aug 7, 2024

Commits on Aug 9, 2024

wrench control interface joint names change, refactor export control interfaces
krmihaly
committed

Commits on Aug 26, 2024

Commits on Aug 29, 2024

Commits on Sep 16, 2024

send period < 5 ms is not needed in joint impedance mode
krmihaly
committed

Commits on Sep 19, 2024

publish impedance config values after controllers start
krmihaly
committed

Commits on Oct 14, 2024

Commits on Oct 17, 2024

format
krmihaly
committed