├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── controllers.yaml ├── ft_calib_data.yaml ├── ft_calib_meas.yaml ├── ft_calib_poses.yaml ├── ft_calib_q.yaml └── hw_interface.yaml ├── include ├── lwr_force_position_controllers │ ├── cartesian_inverse_dynamics_controller.h │ ├── cartesian_position_controller.h │ ├── ft_sensor_calib_controller.h │ └── hybrid_impedance_controller.h └── utils │ ├── euler_kinematical_rpy.h │ ├── euler_kinematical_zyz.h │ └── skew_pinv.h ├── launch └── single_lwr.launch ├── lwr_force_position_controllers_plugins.xml ├── model ├── end_effector.gazebo ├── end_effector.urdf.xacro └── table.urdf.xacro ├── msg ├── CartesianPositionCommandGainsMsg.msg ├── CartesianPositionCommandTraj.msg ├── CartesianPositionCommandTrajMsg.msg ├── CartesianPositionJointsMsg.msg ├── HybridImpedanceCommandGainsMsg.msg ├── HybridImpedanceCommandTrajForceMsg.msg ├── HybridImpedanceCommandTrajPosMsg.msg └── HybridImpedanceSwitchForcePosMsg.msg ├── package.xml ├── robot ├── vito.urdf.xacro └── workbench.urdf.xacro ├── src ├── cartesian_inverse_dynamics_controller.cpp ├── cartesian_position_controller.cpp ├── ft_sensor_calib_controller.cpp └── hybrid_impedance_controller.cpp ├── srv ├── CartesianPositionCommandGains.srv ├── CartesianPositionCommandTraj.srv ├── HybridImpedanceCommandGains.srv ├── HybridImpedanceCommandTrajForce.srv ├── HybridImpedanceCommandTrajPos.srv └── HybridImpedanceSwitchForcePos.srv └── worlds └── simple_environment.world /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xEnVrE/lwr_force_position_controller/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xEnVrE/lwr_force_position_controller/HEAD/CMakeLists.txt 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