how to control lbr 14 with torque/effort control model

IFL-CAMP / iiwa_stack

ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).

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how to control lbr 14 with torque/effort control model #231

Open NKU-ZiXuan opened 5 years ago

NKU-ZiXuan commented 5 years ago

I would like to control iiwa lbr 14 with torque/effort control model,that is to say is there any functions that take every joint' torque/effort as input to control it in the iiwa stack package？Thank you very much！

jacknlliu commented 4 years ago

@921218316 you can consider this repo epfl-lasa/iiwa_ros

nikhilpodila commented 2 years ago

@jacknlliu this surprisingly works.

I noticed that the URDF in the IFL-CLAMP/iiwa_stack repo has a few features different from epfl-lasa/iiwa_ros. Most noticeable ones being:

Max effort of all joints are too small (not enough even for gravity compensation).
safety_controller_k_vel parameter is small.
Collision models are complex (I found an external resource that gives some explanation on this).

This is an old repository! I think its best that everyone move to epfl-lasa/iiwa_ros.