Force-Torque real-time graphics

 



The captured data is composed by:

  • 3 Forces at the fist (3 axis)
  • 3 Torques at the fist (3 axis)
  • 6 Torques at the joints (6 joint efforts)
  • 1 Current of gripper fingers

    This means that we can get 13 values of Force/Torque at each defined timestamp.





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