Stack of Task Space Controllers Framework

This framework implements the Superimposition of Task Space Controllers concept introduced in:

Carlo Tiseo*, Wolfgang Merkt*, Wouter Wolfslag, Sethu Vijayakumar, and Michael Mistry. Safe and Compliant Control of Redundant Robots Using Superimposition of Passive Task-Space Controllers. Nonlinear Dynamics, 2023. DOI: 10.1007/s11071-023-09045-x. arXiv: 2002.12249

It is split in several packages:

1. stack_of_task_space_controllers_core which implements the core library for the stack of controllers and the passive Fractal Impedance Controller described in the above paper.
2. stack_of_task_space_controllers_ros_control which provides a ROS-Control controller.
3. stack_of_task_space_controllers_kuka_lwr which includes a Gazebo simulation using the ROS-Control controller as well as a node communicating with the IPAB-SLMC lwr_driver for hardware experiments.