def rot_matrix_from_vecs(vec_a, vec_b): out = Rotation() vec_a.Normalize() vec_b.Normalize() vcross = vec_a * vec_b vdot = dot(vec_a, vec_b) # Check if the vectors are in the same direction if 1.0 - vdot < 0.1: return out # Or in the opposite direction elif 1.0 + vdot < 0.1: nx = Vector(1, 0, 0) temp_dot = dot(vec_a, nx) if -0.9 < abs(temp_dot) < 0.9: axis = vec_a * nx out = out.Rot(axis, 3.14) else: ny = Vector(0, 1, 0) axis = vec_a * ny out = out.Rot(axis, 3.14) else: skew_v = skew_mat(vcross) out = add_mat( add_mat(Rotation(), skew_v), scalar_mul(skew_v * skew_v, (1 - vdot) / (vcross.Norm()**2))) return out
def makePoses(self): ''' 产生位姿矩阵序列 ''' poses = [] points = self.makePoints() for i in range(len(points)): UX = Vector(points[i][0][0], points[i][0][1], points[i][0][2]) UY = Vector(points[i][1][0], points[i][1][1], points[i][1][2]) UZ = Vector(points[i][2][0], points[i][2][1], points[i][2][2]) Rot = Rotation(UX, UY, UZ) pose = Pose() pose.position.x = points[i][3][0] pose.position.y = points[i][3][1] pose.position.z = points[i][3][2] q = Rot.GetQuaternion() pose.orientation.x = q[0] pose.orientation.y = q[1] pose.orientation.z = q[2] pose.orientation.w = q[3] poses.append(pose) return poses
def vel_calc_func(start_mat, end_mat, corrected_average_interval): # Create rotation matrices start_r = start_mat.M end_r = end_mat.M # Transform matrices using inverse for correct orientation temp = start_mat.M.Inverse() * end_mat.M temp_mat = Frame(Rotation(temp)) ang, temp_axis = Rotation.GetRotAngle(temp) o = start_mat.M * temp_axis p_start_vec = start_mat.p p_end_vec = end_mat.p # print "p vectors ", p_end_vec, p_start_vec delta_x = p_end_vec[0] - p_start_vec[0] print "delta x is ", delta_x delta_y = p_end_vec[1] - p_start_vec[1] delta_z = p_end_vec[2] - p_start_vec[2] # Assign values to a Vector3 element twist_vel = geometry_msgs.msg.Vector3() twist_vel.x = delta_x / corrected_average_interval.to_sec() twist_vel.y = delta_y / corrected_average_interval.to_sec() twist_vel.z = delta_z / corrected_average_interval.to_sec() # twist_rot = geometry_msgs.msg.Vector3() twist_rot = o * (ang / corrected_average_interval.to_sec()) print "twist vel is ", twist_vel print "twist rot is ", twist_rot[2] return twist_vel, twist_rot
def __init__(self, name, mtm_name): pose_str = name + 'pose' button_str = name + 'button' force_str = name + 'force_feedback' self._active = False self._scale = 0.0009 self.pose = Frame(Rotation().RPY(0, 0, 0), Vector(0, 0, 0)) self.base_frame = Frame(Rotation().RPY(0, 0, 0), Vector(0, 0, 0)) self.tip_frame = Frame(Rotation().RPY(0, 0, 0), Vector(0, 0, 0)) self.grey_button_pressed = False # Used as Position Engage Clutch self.white_button_pressed = False # Used as Gripper Open Close Binary Angle self._force = DeviceFeedback() self._force.force.x = 0 self._force.force.y = 0 self._force.force.z = 0 self._force.position.x = 0 self._force.position.y = 0 self._force.position.z = 0 self._pose_sub = rospy.Subscriber(pose_str, PoseStamped, self.pose_cb, queue_size=10) self._button_sub = rospy.Subscriber(button_str, DeviceButtonEvent, self.buttons_cb, queue_size=10) self._force_pub = rospy.Publisher(force_str, DeviceFeedback, queue_size=1) # External Clutch Buttons Requested by ICL extra_footPedal_str = '/footPedal' self._extra_pedal_cb = rospy.Subscriber(extra_footPedal_str, Vector3, self.extra_footpedal_cb, queue_size=1) self._engageMTM = True self._externalFootPedalMsg = Vector3() self._geomagicButtonMsg = DeviceButtonEvent() print('BINDING GEOMAGIC DEVICE: ', name, 'TO MOCK MTM DEVICE: ', mtm_name) self._mtm_handle = ProxyMTM(mtm_name) self._msg_counter = 0
def test_ik(x, y, z, rx, ry, rz): Rx = Rotation.RPY(rx, 0.0, 0.0) Ry = Rotation.RPY(0.0, ry, 0.0) Rz = Rotation.RPY(0.0, 0.0, rz) tip_offset_rot = Rotation.RPY(np.pi, 0, np.pi/2) req_rot = tip_offset_rot * Rz * Ry * Rx req_pos = Vector(x, y, z) T_7_0 = Frame(req_rot, req_pos) # print "REQ POSE \n", round_transform(convert_frame_to_mat(T_7_0), 3), "\n\n--------\n\n" compute_IK(T_7_0)
def runOneArm(self, arm): arm.obj_gui.App.update() # Move the Target Position Based on the GUI x = arm.obj_gui.x y = arm.obj_gui.y z = arm.obj_gui.z ro = arm.obj_gui.ro pi = arm.obj_gui.pi ya = arm.obj_gui.ya gr = arm.obj_gui.gr arm.target.set_pos(x, y, z) arm.target.set_rpy(ro, pi, ya) p = arm.base.get_pos() q = arm.base.get_rot() P_b_w = Vector(p.x, p.y, p.z) R_b_w = Rotation.Quaternion(q.x, q.y, q.z, q.w) T_b_w = Frame(R_b_w, P_b_w) p = arm.target.get_pos() q = arm.target.get_rot() P_t_w = Vector(p.x, p.y, p.z) R_t_w = Rotation.Quaternion(q.x, q.y, q.z, q.w) T_t_w = Frame(R_t_w, P_t_w) T_t_b = T_b_w.Inverse() * T_t_w # P_t_b = T_t_b.p # P_t_b_scaled = P_t_b / self.psm1_scale # T_t_b.p = P_t_b_scaled computed_q = compute_IK(T_t_b) # print('SETTING JOINTS: ') # print(computed_q) arm.base.set_joint_pos('baselink-yawlink', computed_q[0]) arm.base.set_joint_pos('yawlink-pitchbacklink', computed_q[1]) arm.base.set_joint_pos('pitchendlink-maininsertionlink', computed_q[2]) arm.base.set_joint_pos('maininsertionlink-toolrolllink', computed_q[3]) arm.base.set_joint_pos('toolrolllink-toolpitchlink', computed_q[4]) arm.base.set_joint_pos('toolpitchlink-toolyawlink', -computed_q[5]) arm.base.set_joint_pos('toolyawlink-toolgripper1link', gr) arm.base.set_joint_pos('toolyawlink-toolgripper2link', gr) for i in range(3): if arm.sensor.is_triggered(i) and gr <= 0.2: sensed_obj = arm.sensor.get_sensed_object(i) if sensed_obj == 'Needle': if not arm.grasped[i]: arm.actuators[i].actuate(sensed_obj) arm.grasped[i] = True print('Grasping Sensed Object Names', sensed_obj) else: if gr > 0.2: arm.actuators[i].deactuate() arm.grasped[i] = False
def __init__(self, name): pose_topic_name = name + 'pose' twist_topic_name = name + 'twist' button_topic_name = name + 'button' force_topic_name = name + 'force_feedback' self._active = False self._scale = 0.0002 self.pose = Frame(Rotation().RPY(0, 0, 0), Vector(0, 0, 0)) self.twist = PyKDL.Twist() # This offset is to align the pitch with the view frame R_off = Rotation.RPY(0.0, 0, 0) self._T_baseoffset = Frame(R_off, Vector(0, 0, 0)) self._T_baseoffset_inverse = self._T_baseoffset.Inverse() self._T_tipoffset = Frame(Rotation().RPY(0, 0, 0), Vector(0, 0, 0)) self.clutch_button_pressed = False # Used as Position Engage Clutch self.gripper_button_pressed = False # Used as Gripper Open Close Binary Angle self._force = DeviceFeedback() self._force.force.x = 0 self._force.force.y = 0 self._force.force.z = 0 self._force.position.x = 0 self._force.position.y = 0 self._force.position.z = 0 self._pose_sub = rospy.Subscriber(pose_topic_name, PoseStamped, self.pose_cb, queue_size=1) self._twist_sub = rospy.Subscriber(twist_topic_name, Twist, self.twist_cb, queue_size=1) ###### Commented self._button_sub = rospy.Subscriber(button_topic_name, DeviceButtonEvent, self.buttons_cb, queue_size=1) self._force_pub = rospy.Publisher(force_topic_name, DeviceFeedback, queue_size=1) self.switch_psm = False self._button_msg_time = rospy.Time.now() self._switch_psm_duration = rospy.Duration(0.5) print('Creating Geomagic Device Named: ', name, ' From ROS Topics') self._msg_counter = 0
def attach_needle(needle, link): error = 1000 if link is None: print('Not a valid link, returning') return while error > 0.1 and not rospy.is_shutdown(): P_tINw = Vector(link.get_pos().x, link.get_pos().y, link.get_pos().z) # R_tINw = Rotation.Quaternion(tool_yaw_link.get_rot().x, # tool_yaw_link.get_rot().y, # tool_yaw_link.get_rot().x, # tool_yaw_link.get_rot().w) R_tINw = Rotation.RPY(link.get_rpy()[0], link.get_rpy()[1], link.get_rpy()[2]) # we need to move the needle based on the Pose of the toolyawlink. # The yawlink's negative Y direction faces the graspp # position. Therefore, lets add a small offset to the P of yawlink. y_offset = Vector(0, -0.09, 0) P_nINw = P_tINw + R_tINw * y_offset # If you want to rotate the needle to a certain relative orientation # add another Rotation and multiply on the R.H.S of R_tINw in the # Equation below. R_nINw = R_tINw * Rotation.RPY(0, 0, 3.14) needle.set_pos(P_nINw[0], P_nINw[1], P_nINw[2]) needle.set_rot(R_nINw.GetQuaternion()) time.sleep(0.001) P_tINw = Vector(link.get_pos().x, link.get_pos().y, link.get_pos().z) P_nINw = Vector(needle.get_pos().x, needle.get_pos().y, needle.get_pos().z) error = (P_tINw - P_nINw).Norm() print error # Wait for the needle to get there time.sleep(3) # You should see the needle in the center of the two fingers. # If the gripper is not already closed, you shall have to manually # close it to grasp the needle. You should probably automate this in the testIK script. # Don't forget to release the pose command from the needle. We can # do so by calling: needle.set_force(0, 0, 0) needle.set_torque(0, 0, 0)
def build_chain(self): self.chain = Chain() for e in self._config: v = Vector(e["xyzrpy"][0], e["xyzrpy"][1], e["xyzrpy"][2]) r = Rotation.RPY(e["xyzrpy"][3], e["xyzrpy"][4], e["xyzrpy"][5]) j = Joint(e["name"], Joint.None) f = Frame(r, v) if e["type"] == "rotx": axis = Vector(1.0, 0.0, 0.0) j = Joint(e["name"], f.p, f.M * axis, Joint.RotAxis) elif e["type"] == "roty": axis = Vector(0.0, 1.0, 0.0) j = Joint(e["name"], f.p, f.M * axis, Joint.RotAxis) elif e["type"] == "rotz": axis = Vector(0.0, 0.0, 1.0) j = Joint(e["name"], f.p, f.M * axis, Joint.RotAxis) elif e["type"] == "transx": axis = Vector(1.0, 0.0, 0.0) j = Joint(e["name"], f.p, f.M * axis, Joint.TransAxis) elif e["type"] == "transy": axis = Vector(0.0, 1.0, 0.0) j = Joint(e["name"], f.p, f.M * axis, Joint.TransAxis) elif e["type"] == "transz": axis = Vector(0.0, 0.0, 1.0) j = Joint(e["name"], f.p, f.M * axis, Joint.TransAxis) self.chain.addSegment( Segment(e["name"] + "seg", j, f, RigidBodyInertia())) self.fksolverpos = ChainFkSolverPos_recursive(self.chain)
def diff_calc_func(start_mat, end_mat, corrected_avg_interval): temp = start_mat.M.Inverse() * end_mat.M ang, temp_axis = Rotation.GetRotAngle(temp) o = start_mat.M * temp_axis p_start_vec = start_mat.p p_end_vec = end_mat.p # print "p vectors ", p_end_vec, p_start_vec # Finding difference in position values between start and end delta_x = p_end_vec[0] - p_start_vec[0] delta_y = p_end_vec[1] - p_start_vec[1] delta_z = p_end_vec[2] - p_start_vec[2] # Calculation of differentiated values such as velocity/acceleration twist_val = geometry_msgs.msg.Vector3() twist_val.x = delta_x / corrected_avg_interval.to_sec() twist_val.y = delta_y / corrected_avg_interval.to_sec() twist_val.z = delta_z / corrected_avg_interval.to_sec() # twist_rot = geometry_msgs.msg.Vector3() # Calculation of angular velocity/acceleration twist_rot = o * (ang / corrected_avg_interval.to_sec()) # print "accel is ", twist_vel # print "accel rot is ", twist_rot[2] return twist_val, twist_rot
def pose_cb(data): global trans p = data.pose trans = Frame( Rotation.Quaternion(p.orientation.x, p.orientation.y, p.orientation.z, p.orientation.w), Vector(p.position.x, p.position.y, p.position.z))
def trigger(self): sample = self.gyro.get_sample() gs = Gyro() gs.header.frame_id = self.frame_id gs.header.stamp = rospy.Time.now() gs.calibration_offset.x = 0.0 gs.calibration_offset.y = 0.0 gs.calibration_offset.z = self.offset gs.angular_velocity.x = 0.0 gs.angular_velocity.y = 0.0 gs.angular_velocity.z = (sample - self.offset) * math.pi / 180.0 gs.angular_velocity_covariance = [0, 0, 0, 0, 0, 0, 0, 0, 1] self.pub.publish(gs) imu = Imu() imu.header.frame_id = self.frame_id imu.header.stamp = rospy.Time.now() imu.angular_velocity.x = 0.0 imu.angular_velocity.y = 0.0 imu.angular_velocity.z = (sample - self.offset) * math.pi / 180.0 imu.angular_velocity_covariance = [0, 0, 0, 0, 0, 0, 0, 0, 1] imu.orientation_covariance = [0.001, 0, 0, 0, 0.001, 0, 0, 0, 0.1] self.orientation += imu.angular_velocity.z * (imu.header.stamp - self.prev_time).to_sec() self.prev_time = imu.header.stamp (imu.orientation.x, imu.orientation.y, imu.orientation.z, imu.orientation.w) = Rotation.RotZ(self.orientation).GetQuaternion() self.pub2.publish(imu)
def get_initial_position(self, robot): if robot.simulation: robot_to_gob = (0.04, 0.08) else: robot_to_gob = robot.actuators.PUMPS.get(self.pump_id).get("pos") gob_to_robot = TransformStamped() gob_to_robot.transform.translation.x = -robot_to_gob[0] gob_to_robot.transform.translation.y = -robot_to_gob[1] goal_pose = TransformStamped() goal_pose.transform.translation.x = self.position[0] goal_pose.transform.translation.y = self.position[1] robot_pose = PoseStamped() robot_pose.pose.position.x = robot.get_position()[0] robot_pose.pose.position.y = robot.get_position()[1] angle = self.get_initial_orientation(robot) rot = Rotation.RotZ(angle) q = rot.GetQuaternion() goal_pose.transform.rotation.x = q[0] goal_pose.transform.rotation.y = q[1] goal_pose.transform.rotation.z = q[2] goal_pose.transform.rotation.w = q[3] gob_to_robot_kdl = transform_to_kdl(gob_to_robot) robot_goal_pose_kdl = do_transform_frame(gob_to_robot_kdl, goal_pose) return (robot_goal_pose_kdl.p.x(), robot_goal_pose_kdl.p.y())
def update_arm_pose(self): gui = self.GUI gui.App.update() T_t_b = Frame(Rotation.RPY(gui.ro, gui.pi, gui.ya), Vector(gui.x, gui.y, gui.z)) self.arm.move_cp(T_t_b) self.arm.set_jaw_angle(gui.gr) self.arm.run_grasp_logic(gui.gr)
def run(self): rosRate = Rate(30) broadcaster = StaticTransformBroadcaster() while not is_shutdown(): rot = Rotation(self._rotMatrixArray[0], self._rotMatrixArray[1], self._rotMatrixArray[2], self._rotMatrixArray[3], self._rotMatrixArray[4], self._rotMatrixArray[5], self._rotMatrixArray[6], self._rotMatrixArray[7], self._rotMatrixArray[8]) quat = rot.GetQuaternion() staticTransform = self._setTransform(self._robotBaseFrame, self._HDFrame, quat) broadcaster.sendTransform(staticTransform) rosRate.sleep()
def _update_base_pose(self): if not self._base_pose_updated: p = self.base.get_pos() q = self.base.get_rot() P_b_w = Vector(p.x, p.y, p.z) R_b_w = Rotation.Quaternion(q.x, q.y, q.z, q.w) self._T_b_w = Frame(R_b_w, P_b_w) self._T_w_b = self._T_b_w.Inverse() self._base_pose_updated = True
def pose_cb(self, msg): self._pose = msg self._frame.p = Vector(self._pose.pose.position.x, self._pose.pose.position.y, self._pose.pose.position.z) self._frame.M = Rotation.Quaternion(self._pose.pose.orientation.x, self._pose.pose.orientation.y, self._pose.pose.orientation.z, self._pose.pose.orientation.w)
def _update_camera_pose(self): if self._pose_changed is True: p = self.camera_handle.get_pos() q = self.camera_handle.get_rot() P_c_w = Vector(p.x, p.y, p.z) R_c_w = Rotation.Quaternion(q.x, q.y, q.z, q.w) self._T_c_w = Frame(R_c_w, P_c_w) self._T_w_c = self._T_c_w.Inverse() self._pose_changed = False
def convert_mat_to_frame(mat): frame = Frame(Rotation.RPY(0, 0, 0), Vector(0, 0, 0)) for i in range(3): for j in range(3): frame[(i, j)] = mat[i, j] for i in range(3): frame.p[i] = mat[i, 3] return frame
def pose_msg_to_kdl_frame(msg_pose): pose = msg_pose.transform f = Frame() f.p[0] = pose.translation.x f.p[1] = pose.translation.y f.p[2] = pose.translation.z f.M = Rotation.Quaternion(pose.rotation.x, pose.rotation.y, pose.rotation.z, pose.rotation.w) return f
def pose_msg_to_kdl_frame(msg_pose): pose = msg_pose.pose f = Frame() f.p[0] = pose.position.x f.p[1] = pose.position.y f.p[2] = pose.position.z f.M = Rotation.Quaternion(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w) return f
def hydra_msg_to_kdl_frame(msg_hydra): pose = msg_hydra.paddles[0].transform f = Frame() f.p[0] = 10*pose.translation.x f.p[1] = 10*pose.translation.y f.p[2] = 10*pose.translation.z f.M = Rotation.Quaternion(pose.rotation.x, pose.rotation.y, pose.rotation.z, pose.rotation.w) return f
def __init__(self, leader, psm): self.counter = 0 self.leader = leader self.psm = psm self.init_xyz = Vector(0.0, 0.0, -1.0) self.init_rpy = Rotation.RPY(3.14, 0.0, 1.57079) self.cmd_xyz = self.init_xyz self.cmd_rpy = self.init_rpy self.T_IK = None
def to_kdl_frame(urdf_frame): f = Frame() if urdf_frame is not None: if 'xyz' in urdf_frame.attrib: xyz = [float(i) for i in urdf_frame.attrib['xyz'].split()] for i in range(0, 3): f.p[i] = xyz[i] if 'rpy' in urdf_frame.attrib: rpy = [float(i) for i in urdf_frame.attrib['rpy'].split()] f.M = Rotation.RPY(rpy[0], rpy[1], rpy[2]) return f
def process_commands(self): if self._active and self._obj_handle is not None: if self._obj_handle.is_wd_expired(): self._obj_active = False if not self._obj_active: cur_pos = Vector(self._obj_handle.get_pos().x, self._obj_handle.get_pos().y, self._obj_handle.get_pos().z) cur_rpy = Vector(self._obj_handle.get_rpy()[0], self._obj_handle.get_rpy()[1], self._obj_handle.get_rpy()[2]) if self._obj_handle.is_wd_expired: self._obj_active = True else: cur_pos = self._cmd_pos cur_rpy = self._cmd_rpy rot = Rotation.RPY(0, 0, 0) if self._ambf_cam_handle is not None: cam_rpy = self._ambf_cam_handle.get_rpy() rot = Rotation.RPY(cam_rpy[0], cam_rpy[1], cam_rpy[2]) self._cmd_pos = cur_pos + rot * (self._lin_vel * self._lin_scale) self._cmd_rpy = cur_rpy + (self._ang_vel * self._ang_scale) self._obj_handle.set_pos(self._cmd_pos[0], self._cmd_pos[1], self._cmd_pos[2]) self._obj_handle.set_rpy(self._cmd_rpy[0], self._cmd_rpy[1], self._cmd_rpy[2]) if self._msg_counter % 500 == 0: pass if self._msg_counter >= 1000: self._msg_counter = 0 self._msg_counter = self._msg_counter + 1
def update_arm_pose(self): twist = self.leader.measured_cv() if not self.leader.gripper_button_pressed: self.cmd_xyz = self.cmd_xyz + twist.vel * 0.00005 rot_offset_correction = Rotation.RPY(0.0, 0.0, 0.0) self.cmd_rpy = self.leader.measured_cp().M * self.init_rpy self.T_IK = Frame(self.cmd_rpy, self.cmd_xyz) self.psm.move_cp(self.T_IK) self.psm.set_jaw_angle(self.leader.get_jaw_angle()) self.psm.run_grasp_logic(self.leader.get_jaw_angle())
def move_cv(self, twist, dt): if type(twist) in [np.array, np.ndarray]: v = Vector(twist[0], twist[1], twist[2]) * dt w = Vector(twist[3], twist[4], twist[5]) * dt elif type(twist) is Twist: v = twist.vel * dt w = twist.rot * dt else: raise TypeError T_c_w = self.get_T_c_w() T_cmd = Frame(Rotation.RPY(w[0], w[1], w[2]), v) self.move_cp(T_c_w * T_cmd) pass
def pose_to_frame(pose): # type: (object) -> Frame if isinstance(pose, PoseStamped): pose = pose.pose assert isinstance(pose, Pose) pos = Vector(pose.position.x, pose.position.y, pose.position.z) rot = Rotation.Quaternion(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w) frame = Frame(rot, pos) return frame
def update_arm_pose(self): self.update_T_b_c() twist = self.leader.measured_cv() self.cmd_xyz = self.active_psm.T_t_b_home.p if not self.leader.clutch_button_pressed: delta_t = self._T_c_b.M * twist.vel * 0.002 self.cmd_xyz = self.cmd_xyz + delta_t self.active_psm.T_t_b_home.p = self.cmd_xyz self.cmd_rpy = self._T_c_b.M * self.leader.measured_cp().M * Rotation.RPY(np.pi, 0, np.pi / 2) self.T_IK = Frame(self.cmd_rpy, self.cmd_xyz) self.active_psm.move_cp(self.T_IK) self.active_psm.set_jaw_angle(self.leader.get_jaw_angle()) self.active_psm.run_grasp_logic(self.leader.get_jaw_angle())
def __init__(self, arm_name): self._arm_name = arm_name mtml = mtm('MTML') mtmr = mtm('MTMR') self._base_offset = Frame() self._tip_offset = Frame() self._adjusted_pose = Frame() self._adjusted_pose_pre = None self._scale = 1000 if arm_name == 'MTMR': self._base_offset = Frame(Rotation.RPY(3.0397, -1.0422, -1.477115), Vector(-0.182, -0.016, -0.262)) self._tip_offset = Frame(Rotation.RPY(-1.57079, 0 , -1.57079), Vector(0,0,0)) elif arm_name == 'MTML': self._base_offset = Frame(Rotation.RPY(3.0397, -1.0422, -1.477115), Vector(0.182, -0.016, -0.262)) self._tip_offset = Frame(Rotation.RPY(-1.57079, 0 , -1.57079), Vector(0, 0, 0)) else: assert (arm_name == 'MTML' and arm_name == 'MTMR') mtml.home() mtmr.home() mtml.set_wrench_body_orientation_absolute(True) mtmr.set_wrench_body_orientation_absolute(True) mtml.set_wrench_body_force((0, 0, 0)) mtmr.set_wrench_body_force((0, 0, 0)) self._pose = PoseStamped() self._frame = Frame() self._pose_sub = rospy.Subscriber('/dvrk/' + arm_name + '/position_cartesian_current', PoseStamped, self.pose_cb)