Hi,
How is it possible to compute the sensor force value (on UR5e) in the joint frames? I would like to have the force value in wrist1 frame.
Thanks in advance.
Aurélien
Hi,
How is it possible to compute the sensor force value (on UR5e) in the joint frames? I would like to have the force value in wrist1 frame.
Thanks in advance.
Aurélien
Could get_joint_torques() do it for you, or are you talking about actual force values in either direction (X, Y, Z) in each joint? I can’t see how that would be possible, but I definitely don’t know everything myself.
Out of curiousity; what do you need this for?