kuka_save.java

import com.kuka.roboticsAPI.geometricModel.Frame;
import com.kuka.roboticsAPI.geometricModel.Tool;
import com.kuka.roboticsAPI.geometricModel.math.CoordinateAxis;
import com.kuka.roboticsAPI.geometricModel.math.Transformation;
import com.kuka.roboticsAPI.motionModel.CartesianImpedanceControlMode;

// Assuming you've already set up the robot object
private LBR robot;
private Tool plastik1;

@Override
public void initialize() {
    // Initialize the robot and tool
    robot = getContext().getDeviceFromType(LBR.class);
    plastik1 = getApplicationData().createFromTemplate("plastik1");
}

@Override
public void run() {
    plastik1.attachTo(robot.getFlange());

    while (true) {
        // Get external wrench (force and torque) at the robot's flange
        Wrench flangeWrench = robot.getExternalWrench();

        // Get transformation between flange and tool
        Frame flangeToTool = plastik1.getLoadData().getCenterOfMass().copyWithRedundancy();

        // Transform the wrench to the tool frame
        Wrench toolWrench = flangeWrench.changeSystem(flangeToTool);

        // Get force and torque components
        double[] toolForce = toolWrench.getForce().getArray();
        double[] toolTorque = toolWrench.getTorque().getArray();

        // Use or store these values as you like
        // ...
    }
}