Support torque and force command and state interfaces #29
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eholum-nasa
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Dec 15, 2025
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eholum-nasa
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Nice! Is the difference for say, prismatic vs revolute joints?
The only other comment I have, because of the question on the test robot, is that it's probably worth updating the README to show that effort/force/torque interfaces are supported, but that the differences are exclusively semantic... We could also just add a note?
**Note:** The `torque` and `force` command/state interfaces are semantically equivalent to `effort`, and map to the same underlying data in the sim.
eholum-nasa
reviewed
Dec 15, 2025
Co-authored-by: Erik Holum <erik.holum@nasa.gov>
Co-authored-by: Erik Holum <erik.holum@nasa.gov>
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This PR add changes that are needed to support torque and force command and state interfaces. Basically, it remaps to the effort part of the interface.