Used kinematics instead of dynamics

highlevel_controller/CMakeLists.txt

highlevel_controller/config/a6.yaml

highlevel_controller/launch/a6.launch

highlevel_controller/package.xml

kinematic_controller/CMakeLists.txt

kinematic_controller/config/joint_planner.yaml

kinematic_controller/config/redundancy_planner.yaml

...ontroller/include/kinematic_controller/TaskController.hpp

kinematic_controller/launch/pose_controller.launch

kinematic_controller/package.xml

kinematic_controller/src/TaskController.cpp