Force sensor readings are mixed-up
Talos device has 4 force sensor readings: forceLARM
, forceLLEG
, forceRARM
, forceRLEG
, the meaning of which is supposed to be self-evident.
However, by checking the values is the half-sitting position, it appears that the mapping is not correct.
Specifically, I am pretty sure forceLLEG
corresponds to a sensor on an arm and forceRARM
is at a foot. forceRLEG
and forceLARM
have the right order of magnitude, but for the moment I cannot say whether they are really correct or they are switched with the other leg/arm. I will investigate this and write about it here.
@ostasse told me he is working on some general improvements which will eventually fix this problem too, but before it's done, there's some time to wait, so the best for now is to know about this problem and just use the correct signals