realtime docker to use ruthrash version of franka-interface

Author: Ruthrash

docker/realtime_computer/Dockerfile

@@ -66,7 +66,7 @@ RUN apt-get install -y \
     ros-noetic-realsense2-camera
 
 RUN cd ~/git \ 
-    && git clone --recurse-submodules https://github.com/iamlab-cmu/franka-interface \
+    && git clone --recurse-submodules https://github.com/Ruthrash/franka-interface \
     && cd franka-interface 
 
 RUN echo "cloning libfranka"

frankapy_control_test_scripts/test_joint_position_control.py

@@ -33,7 +33,7 @@
                    joints_0[2],
                    joints_0[3]+ generate_sinusoidal_delta_joint_angle(t),
                    joints_0[4]+ generate_sinusoidal_delta_joint_angle(t),
-                   joints_0[5]+ generate_sinusoidal_delta_joint_angle(t),
+                   joints_0[5],
                    joints_0[6]] for t in ts]
 
     rospy.loginfo('Initializing Sensor Publisher')
@@ -83,4 +83,5 @@
                     qs_commmanded=qs_cmd, 
                     dqs_real=dqs_measured, 
                     dqs_commanded=dqs_cmd)
+    print(len(qs_cmd), len(qs_measured), len(joints_traj), len(ts))