├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── ur10e_parameters.yaml └── ur10e_topic_names.yaml ├── debug ├── Test FTSensor │ ├── FT_Sensor.mat │ ├── Fx.jpg │ ├── Fy.jpg │ ├── Fz.jpg │ └── ft_sensor.txt ├── Test Spline │ ├── s € [0,1] │ │ ├── spline1d_joint1_debug.csv │ │ ├── spline1d_joint2_debug.csv │ │ ├── spline1d_joint3_debug.csv │ │ ├── spline1d_joint4_debug.csv │ │ ├── spline1d_joint5_debug.csv │ │ └── spline1d_joint6_debug.csv │ └── s € [0,T] │ │ ├── spline1d_joint1_debug.csv │ │ ├── spline1d_joint2_debug.csv │ │ ├── spline1d_joint3_debug.csv │ │ ├── spline1d_joint4_debug.csv │ │ ├── spline1d_joint5_debug.csv │ │ └── spline1d_joint6_debug.csv ├── input_trajectory_debug.csv ├── s_des_debug.csv └── scaled_trajectory_debug.csv ├── include └── admittance_controller │ └── admittance_controller.h ├── launch ├── ur10e_hw_admittance_controller.launch └── ur10e_simulation_admittance_controller.launch ├── lib └── spline_interpolation │ └── spline.h ├── msg ├── joint_trajectory.msg └── parameter_msg.msg ├── package.xml ├── src └── admittance_controller │ ├── admittance_controller.cpp │ └── admittance_controller_Node.cpp └── srv └── parameter_srv.srv /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/davideferrari95/admittance_controller/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/davideferrari95/admittance_controller/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/davideferrari95/admittance_controller/HEAD/README.md -------------------------------------------------------------------------------- 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