Force value in joints frame


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.


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? :slight_smile: