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1. force_control force_control Public

   6D Cartesian space hybrid force-velocity control using positional inner loop and wrist mounted FT sensor.

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2. hybrid_servoing hybrid_servoing Public

   A package for computing hybrid force-velocity control actions to execute a contact-rich motion plan robustly.

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3. adaptive_compliance_policy adaptive_compliance_policy Public

   Official implementation for paper "Adaptive Compliance Policy Learning Approximate Compliance for Diffusion Guided Control".

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4. pub-icra19-hybrid-control pub-icra19-hybrid-control Public

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5. matlablibrary matlablibrary Public

   My personal Matlab utilities.

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6. hardware_interfaces hardware_interfaces Public

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