I want to use torque control to control the Kuka iiwa robot. With the Kuka sunrise toolbox, I can read the torque, but I can't give the torque to the robots. I read a paper, which mentions that FRI C++ library can help me to use torque control to control the robots. May I ask, where can I download this library, and if possible, could you please give me some examples about how to use the library to do torque control?
https://www.catalyzex.com/paper/arxiv:2002.11635