parsabakhshandeh

Currently, the UR hardware interface fills the effort interface with the "actual current" from rtde data package. Following [this](https://sdurobotics.gitlab.io/ur_rtde/api/api.html#_CPPv4N7ur_rtde4RTDE12RobotCommand4Type17GET_JOINT_TORQUESE) discussion, it seems there is a method to get the joint...