sr_robot_msgs/ShadowContactStateStamped Message

File: sr_robot_msgs/ShadowContactStateStamped.msg

Raw Message Definition

# All 3D vectors are referenced in the fingertip core center

Header header # stamp
geometry_msgs/Vector3 tangential_force   # tangential force (local shear force)
geometry_msgs/Point  contact_position # contact position
geometry_msgs/Vector3 contact_normal       # contact normal
float64 Fnormal # amplitude of normal force (along normal)
float64 Ltorque # amplitude of local torque (around normal)


Compact Message Definition

std_msgs/Header header
geometry_msgs/Vector3 tangential_force
geometry_msgs/Point contact_position
geometry_msgs/Vector3 contact_normal
float64 Fnormal
float64 Ltorque