V1.0 Repository of the simulation and experimental evaluation of the OSC-RL method
The OSC controller in the simulation folder is implemented with a modified version of the abr_control library from studywolf, see https://github.com/abr/abr_control.
The experimental folder contains the scripts to control a Franka Emika Research 3, based on the libfranka library with c++ and ROS1, some functions in the OSC controller are based on the DEOXYS library, see https://github.com/UT-Austin-RPL/deoxys_control/tree/main.
Documentation and better code explanation will come in future versions.