├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg ├── compliance_full_param.cfg ├── compliance_param.cfg ├── desired_mass_param.cfg ├── end-effector-camera.json ├── end-effector.json ├── gravity_compensation_param.cfg ├── minimal_compliance_param.cfg └── passive_ds_param.cfg ├── config ├── default_controllers.yaml ├── default_controllers_interactive.yaml ├── franka_control_node.yaml ├── franka_control_node_interactive.yaml ├── franka_interactive_controllers.yaml ├── franka_interactive_sim_controllers.yaml ├── impedance_control_additional_params.yaml ├── passiveDS_impedance_control_additional_params.yaml ├── pose_impedance_control_additional_params.yaml ├── target_configuration_nullspace.txt └── twist_impedance_control_additional_params.yaml ├── dependencies.rosinstall ├── dependencies_dsControl.rosinstall ├── doc ├── commands.txt ├── icra-demo-instructions.md ├── img │ ├── After-executing-control-instructions.png │ ├── DS-learned.png │ ├── external_compensation_tool_2.png │ ├── external_tool_compensation_1.png │ ├── fci-activate.png │ ├── franka_interactive_bringup.png │ ├── franka_joint_gravity_compensation.png │ ├── franka_kinesthetic_teaching.png │ ├── joints-unlocked.png │ ├── robot_gripper_1.jpg │ ├── robot_gripper_2.jpg │ └── scooping_recording.gif └── instructions │ ├── README.md │ ├── basic_robot_control.md │ ├── ds_learning.md │ ├── executing_ds.md │ ├── external_tool_compensation.md │ ├── kinesthetic_teaching_recording.md │ └── robot_startup.md ├── franka_interactive_controllers_plugin.xml ├── include ├── franka_cartesian_controllers │ ├── cartesian_force_controller.h │ ├── cartesian_pose_franka_controller.h │ ├── cartesian_pose_impedance_controller.h │ ├── cartesian_twist_impedance_controller.h │ ├── cartesian_velocity_franka_controller.h │ ├── passiveDS_admittance_controller.h │ ├── passiveDS_impedance_controller.h │ └── passiveDS_impedance_controller_ybw.h ├── franka_joint_controllers │ ├── joint_gravity_compensation_controller.h │ ├── joint_impedance_franka_controller.h │ ├── joint_position_franka_controller.h │ └── joint_velocity_franka_controller.h ├── franka_motion_generators │ └── libfranka_joint_motion_generator.h └── franka_utils │ ├── kinematics_utils.hpp │ └── pseudo_inversion.h ├── launch ├── cartesian_pose_impedance_controller.launch ├── cartesian_twist_impedance_controller.launch ├── franka_control_interactive.launch ├── franka_interactive_bringup.launch ├── franka_kinesthetic_teaching.launch ├── joint_gravity_compensation_controller.launch ├── passiveDS_impedance_controller.launch ├── rviz │ ├── franka_description.rviz │ ├── franka_description_with_marker.rviz │ ├── franka_dual_description_with_marker.rviz │ └── teleop_joint_pd_example.rviz ├── simulate_panda_gazebo.launch └── unused-fornow │ ├── cartesian_pose_example_controller.launch │ ├── cartesian_velocity_example_controller.launch │ ├── force_example_controller.launch │ ├── joint_impedance_franka_controller.launch │ ├── joint_position_example_controller.launch │ ├── joint_velocity_example_controller.launch │ └── move_to_start.launch ├── package.xml ├── scripts ├── __init__.py ├── __pycache__ │ ├── franka_gripper.cpython-38.pyc │ └── gripper.cpython-38.pyc ├── franka_cartesian_impedance_pose_command.py ├── franka_gui_gripper_run.py ├── franka_museum_inspection_demo.py ├── franka_to_geometry_messages.py ├── interactive_marker.py ├── libfranka_gui_gripper_run.py └── move_to_start.py ├── setup.py └── src ├── franka_cartesian_controllers ├── cartesian_force_controller.cpp ├── cartesian_pose_franka_controller.cpp ├── cartesian_pose_impedance_controller.cpp ├── cartesian_twist_impedance_controller.cpp ├── cartesian_velocity_franka_controller.cpp └── passiveDS_impedance_controller.cpp ├── franka_gripper_run_node.cpp ├── franka_joint_controllers ├── joint_gravity_compensation_controller.cpp ├── joint_impedance_franka_controller.cpp ├── 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