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RobotLocomotion / drake-iiwa-driver

BSD 3-Clause "New" or "Revised" License
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Obtaining the End Effector external forces through FRI #29

Closed robotgradient closed 5 years ago

robotgradient commented 6 years ago

Hi,

I am not sure if you have dealed with this problem, but as far as I found, I have not been able to obtain the external end effector Force directly from the robot using the FRI communication.

Have you solved the problem in any way? Or you are applying Jacobian to obtain it in PC side?

Thanks!!

sammy-tri commented 6 years ago

We're calculating this on the PC side based on the joint torques. I believe you are correct that this is not directly available from the robot (it definitely isn't in joint control mode, and I haven't personally used the cartesian control mode so I don't know what's available there).

sammy-tri commented 5 years ago

Closing as no further action is planned to calculate the external forces in this driver.