【cartesian_impedance mode】Has anyone tried cartesian_impedance with franka ros interface?

[kakeru58]

Hi,
As franka_interface/config/robot_config.yaml says # Internal controller for motion generators [joint_impedance|cartesian_impedance], franka ros interface allows us to change the internal controller for impedance control. However, there is no function to perform cartesian impedance control, and you have to implement it yourself.
Has anyone ever written code using this cartesian_impedance mode?

[github-actions]

Hi @kakeru58, thank you for using this repository. Unfortunately, I am unable to maintain this package any more, sorry!
If you are interested in contributing to this repository or are willing to maintain it, please contact me at mail@saifsidhik.page.
-- Saif