Plotting of body wrenches

asked 2020-10-06 02:26:56 -0500

NFP gravatar image

I have multiple nodes applying body wrenches to the end effector of a Panda robot, using the ApplyBodyWrench service. (Some of these forces come from the task, while others come from an oracle), and I would like to make a plot of the sum of these forces over time. As I understand it, force/torque sensors work only on joints, and not in the world frame. The best way to do this, seems to be to make a node that somehow pulls the information from the ApplyBodyWrench service calls themselves, but that does not seem possible either. Are there any good solutions for this problem that do not include publishing the bodywrench information to a separate topic, just for plotting?

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