feat!: Make nullspace stiffness, damping, and max torque vector-valued - #69
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August 8, 2026 15:58
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The PR is looking good! I will open a PR to update crisp_py with this change as well and then we can do a major release! Thanks for this! |
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NOTE: This is a breaking change as discussed in the associated issue.
Normally this would mean with conventional commits it would have to bump the version to 3.0.0, but if you want this to be a 2.5.0 instead and handle the small breakages, we can take off the !.
This PR expands the nullspace stiffness/damping gains and max torques vector-valued so it's easier to configure per-joint control laws.
With this extra flexibility, we can effectively remove the additional "weights" scaling factor, which means I expanded the bounds of all these now unweighted parameters.
Closes #68