Skip to content

franka: expose motor_torques_external in get_robot_state #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
datvo06 merged 1 commit into from
Sep 11, 2026
Merged

franka: expose motor_torques_external in get_robot_state #1

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions droid/franka/robot.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -230,6 +230,12 @@ def get_robot_state(self):
"prev_joint_torques_computed": list(robot_state.prev_joint_torques_computed),
"prev_joint_torques_computed_safened": list(robot_state.prev_joint_torques_computed_safened),
"motor_torques_measured": list(robot_state.motor_torques_measured),
# libfranka's tau_ext_hat_filtered, filled every cycle by
# franka_panda_client.cpp. The link-side external-torque estimate
# that a guarded press needs: the measured-minus-computed residual
# reads ~37 N at rest on this bench, which no contact threshold
# can sit above.
"motor_torques_external": list(robot_state.motor_torques_external),
"prev_controller_latency_ms": robot_state.prev_controller_latency_ms,
"prev_command_successful": robot_state.prev_command_successful,
}
Expand Down
Loading