File: caros_universalrobot/ForceModeStart.action
Action Definition
#goal definition
# transformation between robot base and the reference frame in which the force is computed
geometry_msgs/Transform base2forceFrame
# selection of which elements to force control in (x, y, z, rx, ry, rz)
uint32[] selection
# the desired wrench
geometry_msgs/Wrench wrench
# control type
uint8 type
# the limits of the speed the robot may attempt to generate the force
float32[] limits
---
#result definition
caros_control_msgs/Status result
---
#feedback
geometry_msgs/Wrench tcp_force