Sunan Sun's repositories
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Elastic-DS
[CoRL2023] Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies
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franka_interactive_controllers
Control interface built on top of franka_ros that allows controlling the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly DS-based) motion planning and learning.
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panda_simulator
[THIS PACKAGE IS NOT MAINTAINED ANYMORE. Please contact me if you are interested in taking over.] A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
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ros_pybullet_interface
ROS-PyBullet Interface.
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