Control represents part of software that directly controls the hardware.

This is designed as a set of two programs. control_node is a ROS node that computers high level stuff (IK, collision detection) and interprets Lua scripts.

control_fw is desktop version of firmware, that communicates with servomotor. There is also control_stm32 in development, which is firmware executed on the device itself. This part of the app executes commands from node and controls the hardware itself.

You can see examples of Lua scripts and generate bindings used by the lua scripts.