File: fingertip_pressure/PressureInfoElement.msg
string frame_id # Frame ID
geometry_msgs/Vector3[] center # Corner of sensor (meters)
geometry_msgs/Vector3[] halfside1 # Half of one edge of sensor (meters)
geometry_msgs/Vector3[] halfside2 # Half of perpendicular edge of sensor (meters)
# Sensor corners are at center+-halfside1+-halfside2
# Cross product of halfside1 and halfside2 points out
float64[] force_per_unit # Multiply this by the raw sensor value to get a force
Expanded Definition