How to obtain the pressure of the real Franka's end effector (not gripper) and control it to generate a constant force (such as 0.5kg)?

moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot

http://docs.ros.org/kinetic/api/moveit_tutorials/html/

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How to obtain the pressure of the real Franka's end effector (not gripper) and control it to generate a constant force (such as 0.5kg)? #117

Closed Franka-Med closed 2 years ago

Franka-Med commented 2 years ago

From the command line: rostopic echo / joint_ states I can obtain the torque of each joint. Further, I want to obtain the pressure of the end effector (not the grasping force of the claw) and control the robot arm based on the torque. May I ask if this idea can be implemented in moveit? If so, what should I do? Thank you very much.

rhaschke commented 2 years ago

You should ask this over at https://github.com/frankaemika/franka_ros