예제 #1
0
 def endpoint_state_cb(self, msg):
   force = vector_msg_to_np(msg.wrench.force)
   torque = vector_msg_to_np(msg.wrench.torque)
   self.wrench = np.hstack((force, torque))
   self.jnt_pos_filt = np.array(msg.joint_state.position)
   if not self.state_alive:
     self.state_alive = True
예제 #2
0
파일: validation_1.py 프로젝트: raycap/data 
 def ft_sensor_cb(self, msg):
   force = vector_msg_to_np(msg.wrench.force)
   torque = vector_msg_to_np(msg.wrench.torque)
   self.wrench = np.hstack((force, torque))
예제 #3
0
 def est_force_cb(self, msg):
   force = vector_msg_to_np(msg.est_force.force)
   torque = vector_msg_to_np(msg.est_force.torque)
   self.wrench = np.hstack((force, torque))