How to set compliance / translational / rotational stiffness?

justagist / panda_robot

A ROS python interface for using the franka robot (requires franka_ros_interface). Simplified control and management API.

https://justagist.github.io/panda_robot

Apache License 2.0

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How to set compliance / translational / rotational stiffness? #14

Open williamsnider opened 2 years ago

williamsnider commented 2 years ago

Is there a simple way to set the compliance of the robot? By that I mean, the spec sheet of the Panda says that there is adjustable translational (0 − 3000 N/m) and rotational (0 − 300 Nm/rad) stiffness. How do I set this?