GetToolForce.srv
Features
This service returns the external force applied to the current tool based on the ref coordinate.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
ref | Int8 | 0 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 |
Note
The MOVE_REFERENCE_WORLD argument of ref is only available in M2.40 or later versions
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
tool_force | float64[6] | - | External force applied to the tool |
success | bool | - | True or False |