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

Tiseo, C., Merkt, W., Wolfslag, W. et al. Safe and compliant control of redundant robots using superimposition of passive task-space controllers. Nonlinear Dyn (2023). doi:10.1007/s11071-023-09045-x

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.