Expose F/T values

[adverley]

rtde_receive.GetFtRawWrench etc

Any reason for not doing atm?

[tlpss]

The interface is already available, But has not been implemented for the URe. It shouldn't be too much effort to implement it but I would also consider adding it as an optional argument to the robot interface, similar to the gripper, for convenience.

We also have to carefully define the frame in which the wrench is expressed and the frame in which it is measured!
The UR by default measures in the flange frame and expresses in the base frame.

Furthermore, obtaining the transform from the flange to the TCP (which is equivalent to the TCP offset defined in the installation file) is not yet supported in the UR-RTDE interface, but I think you don't need it for now? This is an optional method of the interface so we can implement it later when the need arises.

Finally, getting the Raw readings of the F/T sensor is not supported atm in the interface, only those in metric units. You can always access the underlying rtde_receive object manually though.