8.12 Six‑Axis Force Sensor

---

1. Six‑Axis Force Status Interface

• Description: Obtain the current six‑axis force/torque data. The reporting frequency is 1000 Hz. Applicable to Walker Tienkung · Embodied Intelligence.

• Communication type: topic

• Topic names: /arm_6dof_left and /arm_6dof_right

• Message type: geometry_msgs::msg::WrenchStamped

• Message format:

  Header header     # Header
  uint32 seq        # Sequence number
  time stamp        # Timestamp
  string frame_id   # Frame ID
  
  Wrench wrench
    Vector3 force   # Forces along 3 axes
    Vector3 torque  # Torques around 3 axes