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Has anyone ever tried to understand the meaning of each parameter in FrankaState.msg? After reading the official documentation, I only understand some of them, such as O_T_EE and F_T_EE. What do the rest of these parameters mean and how do I find out?

Thanks!

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The explanation has been found in there.

EDIT:

O_T_EE: Measured end-effector pose in base frame.

O_T_EE_d: Last desired end-effector pose of motion generation in the base frame.

F_T_EE: End-effector frame pose in flange frame.

F_T_NE: Nominal end-effector frame pose in flange frame.

NE_T_EE: End-effector frame pose in nominal end-effector frame.

EE_T_K: Stiffness frame pose in end-effector frame.

m_ee: Configured mass of the end effector.

I_ee: Configured rotational inertia matrix of the end effector load with respect to center of mass.

F_x_Cee: Configured center of mass of the end effector load with respect to flange frame.

m_load: Configured mass of the external load.

I_load: Configured rotational inertia matrix of the external load with respect to center of mass.

F_x_Cload: Configured center of mass of the external load with respect to flange frame.

m_total: Sum of the mass of the end effector and the external load.

I_total: Combined rotational inertia matrix of the end effector load and the external load with respect to the center of mass.

F_x_Ctotal: Combined center of mass of the end effector load and the external load with respect to flange frame.

elbow: Elbow configuration.

elbow_d: Desired elbow configuration.

elbow_c: Commanded elbow configuration.

delbow_c: Commanded elbow velocity.

ddelbow_c: Commanded elbow acceleration.

tau_J: Measured link-side joint torque sensor signals.

tau_J_d: Desired link-side joint torque sensor signals without gravity.

dtau_J: Derivative of measured link-side joint torque sensor signals.

q: Measured joint position.

q_d: Desired joint position.

dq: Measured joint velocity.

dq_d: Desired joint velocity.

ddq_d: Desired joint acceleration.

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