├── CMakeLists.txt ├── LICENSE.md ├── ReadMe.md ├── config ├── JointSpaceParams.cfg ├── JointTaskSpaceParams.cfg ├── TaskSpaceParams.cfg ├── default_gains │ ├── joint_space_params.yaml │ ├── joint_task_space_params.yaml │ └── task_space_params.yaml ├── joint_space_compliant_controller.yaml ├── joint_task_space_compliant_controller.yaml └── task_space_compliant_controller.yaml ├── controller_plugins.xml ├── include └── compliant_controllers │ ├── extended_joint_positions.h │ ├── joint_space │ ├── controller.h │ ├── hardware_interface_adapter.h │ └── hardware_interface_adapter_impl.h │ ├── joint_task_space │ ├── controller.h │ ├── hardware_interface_adapter.h │ └── hardware_interface_adapter_impl.h │ ├── robot_state.h │ ├── task_space │ ├── controller.h │ ├── hardware_interface_adapter.h │ └── hardware_interface_adapter_impl.h │ └── utils.h ├── launch ├── joint_space_compliant_controller.launch ├── joint_task_space_compliant_controller.launch ├── switch_mode.launch └── task_space_compliant_controller.launch ├── package.xml ├── scripts ├── switch_mode.py └── test_controller_server.py ├── src ├── extended_joint_positions.cpp ├── joint_space │ ├── compliant_controllers.cpp │ └── controller.cpp ├── joint_task_space │ ├── compliant_controllers.cpp │ └── controller.cpp ├── task_space │ ├── compliant_controllers.cpp │ └── controller.cpp └── utils.cpp └── test ├── launch └── view_robot.launch ├── rviz └── config.rviz ├── test_task_space_control.cpp └── urdf ├── oxf20_right_arm.urdf ├── oxf20_right_arm_gripper.urdf └── simple_robot.urdf.xacro /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/applied-ai-lab/compliant_controllers/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 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