How to store "stretching" forces? [closed]
I am trying to simulate the PR2 robot interacting with cloth. I need to obtain, and specially store, the forces the PR2 robot is applying when manipulating the objects. For example, after the PR2 grasps a rectangular piece of cloth from 2 adjacent edges, I need to store the forces required to stretch the cloth in all possible directions. How can I do this?
Can you clarify what you mean by the forces. Are these the gripper forces, the forces applied by each joint in each arm?