21 lines
1.1 KiB
Plaintext
21 lines
1.1 KiB
Plaintext
<element name="force_torque" required="0">
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<description>These elements are specific to the force torque sensor.</description>
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<element name="frame" type="string" default="child" required="0">
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<description>
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Frame in which to report the wrench values. Currently supported frames are:
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"parent" report the wrench expressed in the orientation of the parent link frame,
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"child" report the wrench expressed in the orientation of the child link frame,
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"sensor" report the wrench expressed in the orientation of the joint sensor frame.
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Note that for each option the point with respect to which the
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torque component of the wrench is expressed is the joint origin.
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</description>
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</element>
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<element name="measure_direction" type="string" default="child_to_parent" required="0">
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<description>
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Direction of the wrench measured by the sensor. The supported options are:
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"parent_to_child" if the measured wrench is the one applied by parent link on the child link,
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"child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
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</description>
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</element>
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</element>
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