Hello everyone,
I noticed that the LBRState class gives you access only to the joint torque measures from the client side (when using FRI).
Is there a way to get the estimated "cartesian" force/torque like the one provided by the IServoRuntime class ?
I know that I can use the Jacobian matrix and joint torques to get the cartesian force/torque, but it's weird that the cartesian force estimator is not available in FRI mode !