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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]