I am using get_measured_joint_forces and trying to calculate the stress on the joint,
however I need clarification :
- if the function measuring force from link on joint?
- Am I understand correctly that get_measured_joint_forces read eternal force applied onto joint, while the get_applied_joint_efforts reads force applied by joint drive?
- what is the direction convent of the force? is it respect to world frame or local frame?
Thank you