Update transformForceTorque to handle wheter it is a cb3 or an e-Series robot (backport #1287) #1299
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urfeex
approved these changes
Mar 17, 2025
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The force torque is returned at the tool flange on e-series robots and at the tcp for CB3, this is now handled correctly, so that all force/torque measurements will be relative to the active TCP
This is an automatic backport of pull request #1287 done by [Mergify](https://mergify.com).