Does YuMi have access to the force and torque sensor?

kazoo

It looks YuMi have sensors to detect the collision, but does YuMi have access to the force and torque sensor? The manual doesn't say anything, so I guess YuMi doesn't have the ability. I'd like to use those sensors' information to implement the force control if possible.

fengyuan

it seems like detect force or torque with joint motor's current.