Hi,
I am trying to define the fext that is applied on the robot by taking in the readings from the ft_sensors and passing it directly to the Inverse Dynamics function.
It seems like there is an issue with defining it this way, as the result of the Inverse dynamics looks so high.
In the documentation it states forces in base coordinate, how can I transform them.

 fext[left_foot_sole][0] = left_ft_sensor.wrench.torque.x;
fext[left_foot_sole][1] = left_ft_sensor.wrench.torque.y;
fext[left_foot_sole][2] = left_ft_sensor.wrench.torque.z;
fext[left_foot_sole][3] = left_ft_sensor.wrench.force.x;
fext[left_foot_sole][4] = left_ft_sensor.wrench.force.y;
fext[left_foot_sole][5] = left_ft_sensor.wrench.force.z;