forceToTorque_11.m

function tau = forceToTorque_11(F, J)
% FORCETOTORQUE_GROUPNO Calculate the joint torques required to exert a 
%   specific set of end-effector forces/torques in a given configuration.
%   Note that you can write this function entirely generally, with no
%   reference to the Lynx. CHANGE GROUPNO TO YOUR GROUP NUMBER.
%
% INPUTS:
%   F - 1 x 6 vector of desired forces/torques (where F(1:3) is the
%       forces and F(4:6) is the torques)
%   J - the 6xN jacobian of the robot in its current configuration  
%
% OUTPUTS:
%   tau - Nx1 vector of joint torques required to generate F.

%%

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    tau = transpose(J)*F.'; %get torque vector from force vector

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end