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Adds position and velocity motion generators to FrankaHWSim #181

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Adds position and velocity motion generators to FrankaHWSim #181

wants to merge 2 commits into from

Commits on Feb 15, 2022

  1. feat: add position and velocity motion generators to FrankaHWSim 

    This commit adds the 'hardware_interface/PositionJointInterface' and
'hardware_interface/VelocityJointInterface' interfaces to the
FrankaHWSim module. When a user chooses these interfaces, motion
generators (i.e. PID controllers) are used for controlling the robot.
    @rickstaa
    rickstaa committed Feb 15, 2022
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  2. feat: add effort and position traj controllers to simulation

    @rickstaa
    rickstaa committed Feb 15, 2022
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