Port cart. force / toque (wrench?) data type

[smithjoshua001]

Has there been any progress on implementing this data type? I would like to use it for transmitting force torque sensor data

[xwavex]

@smithjoshua001 I'll try to target that tomorrow, shouldn't take too much time.

[xwavex]

@smithjoshua001 The following Types are now included:

rst.dynamics.Forces

message Forces {

    /**
     * Translatory force along the x axis.
     */
    // @unit(newton)
    required float x = 1;

    /**
     * Translatory force along the y axis.
     */
    // @unit(newton)
    required float y = 2;

    /**
     * Translatory force along the z axis.
     */
    // @unit(newton)
    required float z = 3;

}

rst.dynamics.Torques

message Torques {

    /**
     * Torque around the x axis.
     */
    // @unit(newton-meter)
    required float a = 1;

    /**
     * Torque around the y axis.
     */
    // @unit(newton-meter)
    required float b = 2;

    /**
     * Torque around the z axis.
     */
    // @unit(newton-meter)
    required float c = 3;

}

rst.dynamics.Wrench

message Wrench {

    /**
     * 3-dimensional translatory forces.
     */
    required Forces forces = 1;

    /**
     * 3-dimensional rotatory forces (moment).
     */
    required Torques torques = 2;

}