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1. My component is not executed

As shown in the following figure, cmode indicates the current control status of the robot.

cmode 1: Joint-space Control

Also, as shown in the following table, only the relevant component is activated according to the control state. This means that the developed component only works in a specific cmode.

control mode
Joint Trajectory Interpolation Component Joint Control Component Task Trajectory Interpolation Component Task Control Component
- computeControlTorq - -
Joint Move
traj computeControlTorq - -
Task Move
- - traj computeControlTorq
Direct Teaching
- computeGravityTorq - -

Component function called at each cmode