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iamlab-cmu / franka-interface

C++ Library for Interfacing with Libfranka and Frankapy
MIT License
42 stars 9 forks source link

Implementation of new skill to apply joint torque #19

Open Ruthrash opened 9 months ago

Ruthrash commented 9 months ago

This PR implements a new skill that applys desired joint torque passed from the frankapy server. I pass a minjerkjointtrajectory generator as the trajectory generator to the skill but it is not used at all. The desired joint torque is sent from the frankapy server through TorqueControllerSensorMessage and is applied after clipping with torque limits.

Ruthrash commented 5 months ago

Hey @mohitsharma0690! Apologies for getting so late to reply, I was travelling for the most part of the time after your change requests and I didn't have access to the franka robot. Thanks so much for your comments, I have incoporated the changes you have asked and have addressed some of your concerns. Please get back to me when you could.