Get_force_tcp() in the feature reference system

[terryc]

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Get_tcp_force() in tcp frame

Hi everyone, with the command get_tcp_force() I obtain the external force on the TCP but in base_frame, I try to use the function wrench_trans() in this way: F_base=get_tcp_force() F_base_list=[F[0], F[1], F[2], F[3], F[4], F[5]] F_tcp=wrench_trans(get_actual_tcp(), F_base_list) The force give me the result that I expected , but the momentums are not correct. There is a way to read direct the result of the force/torque sensor in TCP frame? How to use the function wrench_trans() in the co…

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