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HorizonRobotics / RoboOrchard Public

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MIT impedance control mode #4

Open

andaloo23 wants to merge 13 commits into

HorizonRobotics:masterHorizonRobotics/RoboOrchard:masterfrom

andaloo23:andrewliuandaloo23/RoboOrchard:andrewliuCopy head branch name to clipboard

Conversation Commits13 (13)Checks Files changed

Open

MIT impedance control mode #4
andaloo23 wants to merge 13 commits into
HorizonRobotics:masterfrom
andaloo23:andrewliu

Commits

Commits on Jul 16, 2026

publish commanded follower joints; tuneable mit params in app
andaloo23
committed
tune params via ui
andaloo23
committed
static stiffness check to validate alpha = 1; fixed scripted motion test
andaloo23
committed
fix mit usage
andaloo23
committed
migrate legacy HoloBrain static TFs into runtime TF-directory
andaloo23
committed
configurable gravity scale in UI
andaloo23
committed
follower gravity compensation, enable deflection table
andaloo23
committed
gravity compensation tunable via ui
andaloo23
committed
velocity, inertial feedforward
andaloo23
committed
refactor piper calibration and evaluation workflows
andaloo23
committed
add readme
andaloo23
committed
calibrated values warning
andaloo23
committed
fix reset parameter name after rebase
andaloo23
committed

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