Simulate different iiwa control modes in `HardwareStation`
nepfaff opened this issue · 1 comments
nepfaff commented
The iiwa driver supports different control modes.
This PR adds support for the control modes when hardware=True. However, we aren't yet simulating them. Especially, the torque_only mode will require some changes that reflect the driver implementation.
The goal of this PR is to support all different control modes:
- position_and_torque
- torque_only
- position_only
nepfaff commented
I will take this one. From looking at the code, we should soon be able to use Drake's functions for this s.t. some pending Drake changes that I will work on first