How do I access the internal dynamics through your interfaces?

[kamiradi]

Hi this maybe the wrong place to ask this question, but how do I access the internal dynamics if I was writing a Operation space controller for the IIWA14?

[mhubii]

hi @kamiradi, you cannot access the internal dynamics, but you can access the result of it through the external torques, e.g. exposed under /lbr/state