Liam

> 1. When you say joint status, do you mean the joint angle between the starting point and the end point of the trajectory? > 2. Zero force functionality is...

> 1. In fact, you can see the joint radian position_tmp1 and position_tmp2 from the read_update function in elfin_ros_control/src/elfin_hardware_interface.cpp. You can customize a topic to publish it. > 2. We...