CODEWITHSUNDEEP
sensorsdraketorque
Wei Zhongqi
Wei Zhongqi

Reputation: 11

how to add iiwa joint torque sensor in drake

I want to use iiwa's joint torque feedback data in my controller's input.

But I didn't find API to get joint torque data.

Which API should I use?

get_reaction_forces_output_port. or get_generalized_contact_forces_output_port?

Upvotes: 0

Views: 102

Answers (1)

Russ Tedrake
Russ Tedrake

Reputation: 5533

The iiwa API makes three torque values available: commanded, measured, and external. In the manipulation_station simulation, we take commanded to be the value of the input port, measured to be the same (assuming ideal torque tracking), and external to be the value from the get_generalized_contact_forces_output_port -- since contact forces are the only source of external torques.

You can see that code here and here.

Upvotes: 1

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