Simulate different iiwa control modes in `HardwareStation`

RussTedrake / manipulation

Course notes for MIT manipulation class

BSD 3-Clause "New" or "Revised" License

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Simulate different iiwa control modes in `HardwareStation` #295

Closed nepfaff closed 3 months ago

nepfaff commented 4 months ago

The iiwa driver supports different control modes.

This PR adds support for the control modes when hardware=True. However, we aren't yet simulating them. Especially, the torque_only mode will require some changes that reflect the driver implementation.

The goal of this PR is to support all different control modes:

[x] position_and_torque
[x] torque_only
[x] position_only

nepfaff commented 4 months ago

I will take this one. From looking at the code, we should soon be able to use Drake's functions for this s.t. some pending Drake changes that I will work on first