Hi,
I would like to get the information of the joint gravity vector (the G(q) term of the rigid body equation of motion) that KUKA internally computed and applied.
I see that in the old FRI, the gravity (and also mass matrix and Jacobian) are provided, as you can see here: https://github.com/CentroEPiaggio…e/fri/friComm.h
The FRI that we currently use are using Protobuf, with a file named friLBRState.h (version 1.7, written in 2014-2015), and it has interfaces such as getMeasuredTorque(), getCommandedTorque(), getExternalTorque(), but I could NOT find anything related to gravity (nor mass matrix).
Is there anyway I can get information of this gravity term? Thanks!
Best Regards,
Giovanni