This depends on what you are trying to do. If all you need is gravity compensation with no other joint control, you can turn on the JointImpedanceControlMode using the ConfigureControlMode service and set the spring constant values to 0 and the damping constant values to 0.7.
If you're trying to do more sophisticated joint torque control using gravity compensation, I'm afraid this package currently doesn't support that. To access joint torque control you need to go through the FRI port, which this package currently doesn't do. You'll have to write your own Java implementation on the Sunrise Controller.
This depends on what you are trying to do. If all you need is gravity compensation with no other joint control, you can turn on the JointImpedanceControlMode using the ConfigureControlMode service and set the spring constant values to 0 and the damping constant values to 0.7.
If you're trying to do more sophisticated joint torque control using gravity compensation, I'm afraid this package currently doesn't support that. To access joint torque control you need to go through the FRI port, which this package currently doesn't do. You'll have to write your own Java implementation on the Sunrise Controller.