8.12 6D Force

1. 6D Force Status Acquisition Interface

• Description: Get the current information of 6D force. The reporting frequency is 1000Hz, applicable to Tienkung Walker·Embodied Intelligence.
• Control Method: topic
• Topic Names: /arm_6dof_left and /arm_6dof_right
• Type: geometry_msgs::msg::WrenchStamped.msg
• Data Format:

  Header header uint32 seq # sequence number
  Header header time stamp # time stamp
  Header header string frame_id # frame id
  
  Wrench wrench Vector3 force # force in 3 directions
  Wrench wrench Vector3 torque # torque in 3 directions