Sam Creasey

The README.md is a bit incomplete about the last steps, I see. You'll need to unzip a copy of the FRI library source code and apply the patch as described...

Ah! I have unfortunately never tested the build on mac, which I see you've just discovered. You may be able to get it to build by editing `build/GNUMake/tools.mak` and changing...

(sorry for the delayed response!) Also sorry because that text is not very clear and even kinda wrong. When `kuka_driver` starts up, it just sits there waiting for FRI traffic...

#18 has the change for joint impedance mode in the torque driver. Will probably land tomorrow.

I need to apologize again for the fact that there's not a general purpose demo of moving the robot with drake in drake (there was, as I mentioned in #14,...

With the merge of https://github.com/RobotLocomotion/drake/pull/7728 there's now a slightly better demo program/setup for moving the robot around, but it's not great. https://github.com/RobotLocomotion/drake/blob/master/examples/kuka_iiwa_arm/README.md documents how to run it with `kuka_simulation`, replacing...

It's been working pretty well for us, though we haven't use the torque control features extensively (we have used it to some extent though). We have had intermittent issues where...

Unfortunately the best example in drake is suffering from some bitrot and you'd basically need to build spartan anyway to get the needed dependencies to get it to work (there's...

Being able to set the control mode parameters (FRI position vs. torque, joint impedance constants, fri configuration) without deploying a new app with Sunrise would definitely be of interest to...

I think adding a new field to `IiwaDriver` (`status_period`? `control_period`?) seems fine to me (and threading it through `BuildIiwaControl` and down into `SimIiwaDriver` seems like a reasonable plan to make...