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aaronskidmoreaaronskidmore Unconfirmed Posts: 5 Apprentice
I have been using get_joint_torques() to test how much force is being applied during bottle cap tightening on wrist3 but found it is inconsistent, and thought I could try testing amps instead, or maybe even test joint speed and catch the speed slowing down to indicate cap is tight. I dont want to invest in external torque sensor. If this cant be done I will probably look at mechanical clutch.

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