The Purpose of Position in OmniFeedback.msg

[OltanS]

Dear @bharatm11,

I wanted to ask what the purpose of the position variable in the OmniFeedback message type.

I tried playing around with the value when publishing to the topic and was unable to see any difference in behaviour with different values, and I found the description provided in the file a bit cryptic since the Touch itself would already know its own end effector position.

My intuition from browsing the code was that it is a "point" in the Touch's coordinate frame, where closer you get to it more force is applied, but that makes me think we'd be passing an array of such points to generate a 3D plane/surface which provides more feedback the more you try to push past it (much like the example in the diagnostic).

Or is the "robot arm" in question an external arm that is being teleoperated with haptic feedback by the Touch whose positions we are feeding back into the Touch?

Thank you for your help.

[ADS-Facy]

Did you get the answer ? i was also wondering !!