phynt-genom3 1.1 released
Changes¶
- Use current time instead of reference time in the log file
- Implement the admittance filter as an offset from reference state
- Add enable() service to toggle wrench observer or admittance filter on/off
- Add a threshold setting external wrench to 0 when it is below the threshold
- Add set_wo_zero() service computing the external wrench bias
Comments