Update docs with dynaarm - #30
Merged
danielsanjosepro merged 5 commits intoFeb 9, 2026
Merged
Conversation
Contributor
There was a problem hiding this comment.
Pull request overview
This PR updates the documentation and codebase to add support for the DynaArm robot and introduces operational space control enhancements with joint limit repulsion features.
Changes:
- Added operational space regularization parameter with configurable damping for improved stability near singularities
- Implemented joint limit repulsion torques with configurable safe range and maximum torque parameters
- Updated documentation to include DynaArm robot in the tested hardware list and added a demonstration video
Reviewed changes
Copilot reviewed 4 out of 5 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| src/cartesian_impedance_controller.yaml | Added operational space regularization and joint limit repulsion configuration parameters |
| src/cartesian_controller.cpp | Updated reference frame handling, integrated regularization parameter, enabled joint limit repulsion, and uncommented torque filtering |
| docs/stylesheets/extra.css | Changed robot grid layout from 3 to 4 columns to accommodate DynaArm |
| docs/index.md | Uncommented DynaArm robot card, added contributor credit, and included DynaArm demonstration video |
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Collaborator
|
LGTM :) |
yizhongzhang1989
pushed a commit
to yizhongzhang1989/crisp_controllers
that referenced
this pull request
Mar 17, 2026
* fix: world reference frame * feat: add further parameters for tuning * Add dynaarm video * Update docs/index.md Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --------- Co-authored-by: Daniel San José Pro <42489409+danielsanjosepro@users.noreply.github.com> Co-authored-by: Niklas Schuelter <niklasschuelter@tum.de> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.