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Commit 0a25d53a authored by Jose Medina's avatar Jose Medina
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Remove tau_ext from Cartesian impedance example

Although tau_ext increases compliance significantly (similar to zero g mode)
it can be confusing and not completely correct.
parent cd09657b
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......@@ -148,7 +148,6 @@ void CartesianImpedanceExampleController::update(const ros::Time& /*time*/,
Eigen::Map<Eigen::Matrix<double, 6, 7> > jacobian(jacobian_array.data());
Eigen::Map<Eigen::Matrix<double, 7, 1> > q(robot_state.q.data());
Eigen::Map<Eigen::Matrix<double, 7, 1> > dq(robot_state.dq.data());
Eigen::Map<Eigen::Matrix<double, 7, 1> > tau_ext(robot_state.tau_ext_hat_filtered.data());
Eigen::Map<Eigen::Matrix<double, 7, 1> > tau_J_d( // NOLINT (readability-identifier-naming)
robot_state.tau_J_d.data());
Eigen::Affine3d transform(Eigen::Matrix4d::Map(robot_state.O_T_EE.data()));
......@@ -186,7 +185,7 @@ void CartesianImpedanceExampleController::update(const ros::Time& /*time*/,
(nullspace_stiffness_ * (q_d_nullspace_ - q) -
(2.0 * sqrt(nullspace_stiffness_)) * dq);
// Desired torque
tau_d << tau_task + tau_nullspace + coriolis - tau_ext;
tau_d << tau_task + tau_nullspace + coriolis;
// Saturate torque rate to avoid discontinuities
tau_d << saturateTorqueRate(tau_d, tau_J_d, gravity);
for (size_t i = 0; i < 7; ++i) {
......
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