I’m starting a C++ application which need to collect positions or joints values while xarm is moving.
The application should grab data from a force sensor and get robot position to be able to setup a file (CVS) with displacement (mm in Z direction) and force (N). So the stiffness could be calculated after the experiment.
My idea is to setup a timer (or event) which collect both data and store them in a flie.
Does get_position(fp32 pose) will suite my purpose ?