apply desired joint torque passed from the frankapy client #18
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Ruthrash
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mohitsharma0690
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Oct 28, 2023
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mohitsharma0690
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mohitsharma0690
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There seem to be too many files that shouldn't be added here. Can you please take a look.
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Hey @mohitsharma0690! Apologies for getting so late to reply, I was travelling for the most part of the time after your change requests and I didn't have access to the franka robot. Also, so sorry for adding changes not relevant to this PR. I have removed them based on your comments. Thanks so much for your comments, I have incoporated the changes you have asked. Please get back to me when you could. Thanks! |
Author
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Also, I have an example joint_torque_control.py script that applies zero joint torque(gravity compensation) that can act as a test case for this feature. Do let me know if you think I should add it to this PR. |
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This PR adds a new skill that requests franka-interface server to apply desired torque to the joints.