ADVANCED CONTROL FOR MANIPULATOR X

This repository contains the Advanced Control Package for the OpenManipulator-X. It enables:

• Variable Stiffness Control (New: anisotropic stiffness / damping via CSV profiles)
• Straight Line Impedance Control (Robust baseline for trajectory tracking)
• Static Impedance Control(from Debojit's repo) (Fixed setpoint impedance)

This package also adds specialized publisher nodes to the existing control codes for enhanced data logging and visualization.