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ADVRHumanoids / xbot2_examples

Examples and tutorials on the new XBot2 framework -- WIP
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[XBOT2] External wrench computation #34

Closed MarcoMagriDev closed 1 year ago

MarcoMagriDev commented 1 year ago

Hi,

I was wondering, is there any builtin method in xbot2 to get the current wrench applied to the robot TCP?

Thanks, Marco

alaurenzi commented 1 year ago

There is nothing provided built-in (unless the robot mounts a physical FT sensor) For estimation purposes you can have a look to this package

MarcoMagriDev commented 1 year ago

I will try to have a look of that.

Thanks