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ubi-agni / tactile_toolbox

software to handle tactile sensors in ROS
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Report zero contact torques #12

Closed rhaschke closed 3 years ago

rhaschke commented 3 years ago

... as we cannot transmit torques in the contact point @guihomework: Do you agree?

rhaschke commented 3 years ago

Sorry for the noise. Torque should be expressed in link frame as can be seen from this back-transformation: https://github.com/ubi-agni/tactile_toolbox/blob/80390d6bd2c1b27174a2153111f457aa117e5035/rviz_tactile_plugins/src/tactile_contact_display.cpp#L298-L303