About the data information returned by CDRFLEx.get_rt_control_output_data_list, Doubts about actual_motor_torque, actual_joint_torque, raw_joint_torque, and mass_matrix

[xwn-github]

English translation： Hello, I am an engineer from Wuhan Jingtian. I am not very familiar with some user questions. In the returned data information of CDRFLEx.get_rt_control_output_data_list, actual_motor_torque, actual_joint_torque, raw_joint_torque, mass_matrix doubts, I would like to ask you to understand the specific problems, I ask the user of the robot arm to specify:

Chinese translation： 您好，我是武汉京天的工程师，我这边有一些用户的问题不是很了解，关于CDRFLEx.get_rt_control_output_data_list返回的数据信息中，actual_motor_torque、actual_joint_torque、raw_joint_torque、mass_matrix的疑惑，向您这边了解一下，具体问题我请机械臂的使用者具体说明：

[ChenChao655]

Hello, I want to use the real-time control mode of the doosan robotic arm to build a Cartesian impedance controller. However, I found that there is an issue with the mass matrix returned by the rt monitor. For example, the values at positions [5,5] and [6,6] of this matrix are close to 0, such as 0.01. When using this matrix for control, the joint forces obtained for the end effector error are close to 0. I have also considered the issue of setting the end effector tool, but after setting it's mass, the matrix remains essentially unchanged. 你好，我想使用斗山机械臂的实时控制模式构建笛卡尔阻抗控制器，但是我发现机械臂返回的质量矩阵是有问题的，例如该矩阵的[5,5]和[6,6]位置的值0.01已经接近0了，使用该矩阵进行控制时末端关节的误差得到的关节力接近0，我也考虑了末端工具质量设置的问题，但是设置之后该矩阵基本没有变化。