where is the gravity compensation term in impedance control

frankaemika / libfranka

C++ library for Franka research robots

https://frankaemika.github.io

Apache License 2.0

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where is the gravity compensation term in impedance control #98

Open RanCao2018 opened 3 years ago

RanCao2018 commented 3 years ago

Hi, thank you for your work! I have seen the cartesian impedance controller in "cartesian_impedance_control.cpp". But I found the torque command only supplies a Coriolis torque compensation (at line 105). So where is the gravity compensation term?

peasant98 commented 3 years ago

I believe that it's taken care of under the hood.

alisonjpp commented 3 years ago

franka does the gravity compensation itself