Describe the solution you'd like
In xs_sdk_sim, only the joint_states.position values are included - this is inconsistent with the real robot interface in xs_sdk_obj.cpp.
Platform
x-series arms
Is your feature request related to a problem? Please describe.
In some of my use-cases, I use the velocity from the real robot - I need to add hacks to my code in order to handle the simulation vs real cases.
Suggested code
I forked the repo, implemented backward differencing to estimate the velocity, and setup a PR #56
Additional Info
No response
Describe the solution you'd like
In xs_sdk_sim, only the joint_states.position values are included - this is inconsistent with the real robot interface in xs_sdk_obj.cpp.
Platform
x-series arms
Is your feature request related to a problem? Please describe.
In some of my use-cases, I use the velocity from the real robot - I need to add hacks to my code in order to handle the simulation vs real cases.
Suggested code
I forked the repo, implemented backward differencing to estimate the velocity, and setup a PR #56
Additional Info
No response