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WrenchClient

Inherits from: ROSClient

A ROS client for publishing and receiving wrench messages over ROS topics. A wrench is a combination of force and torque, and is commonly received from contact sensors, and published to end effectors.

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WrenchClient

WrenchClient(client_dict, agent_dict)

Initialize the wrench client.

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Arguments
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client_dict (dict)
required

Configuration dictionary for the client

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agent_dict (dict), optional

defaults to None. Dictionary of agent parameters. Defaults to None.

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publish_wrench

WrenchClient.publish_wrench(force, torque)

Publish a wrench message.

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Arguments
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force (array-like)
required

Force as [x, y, z]

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torque (array-like)
required

Torque as [x, y, z]

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process_latest_msg

WrenchClient.process_latest_msg()

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get_force

WrenchClient.get_force()

Get the current force.

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Returns

Current force as [x, y, z]

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get_torque

WrenchClient.get_torque()

Get the current torque.

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Returns

Current torque as [x, y, z]