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?
how to add iiwa joint torque sensor in drake
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The iiwa API makes three torque values available: commanded, measured, and external. In the
manipulation_stationsimulation, 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 theget_generalized_contact_forces_output_port-- since contact forces are the only source of external torques.You can see that code here and here.