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justagist / franka_ros_interface

A ROS/Python API for controlling and managing the Franka Emika Panda robot (real and simulated).
http://justagist.github.io/franka_ros_interface
Apache License 2.0
171 stars 59 forks source link

【cartesian_impedance mode】Has anyone tried cartesian_impedance with franka ros interface? #44

Open kakeru58 opened 1 year ago

kakeru58 commented 1 year ago

Hi, As franka_interface/config/robot_config.yaml says # Internal controller for motion generators [joint_impedance|cartesian_impedance], franka ros interface allows us to change the internal controller for impedance control. However, there is no function to perform cartesian impedance control, and you have to implement it yourself. Has anyone ever written code using this cartesian_impedance mode?

github-actions[bot] commented 1 year ago

Hi @kakeru58, thank you for using this repository. Unfortunately, I am unable to maintain this package any more, sorry! If you are interested in contributing to this repository or are willing to maintain it, please contact me at mail@saifsidhik.page. -- Saif