Wrench

Force (N) and torque (N·m) applied to a body, both in the frame the header names.

Import

from robot_msgs.geometry import Wrench

ROS 2geometry_msgs/msg/Wrench

Fields

Name	Type	Default
`force`	`Vector3`	`Vector3()`
`torque`	`Vector3`	`Vector3()`

Example

One instance from the package's own test catalog; the output is its real repr().

Wrench(force=Vector3(x=0.0, y=0.0, z=-9.81), torque=Vector3(x=0.1, y=0.0, z=0.0))

to_dict() as JSON

{
  "_type": "geometry/Wrench",
  "force": {
    "_type": "geometry/Vector3",
    "x": 0.0,
    "y": 0.0,
    "z": -9.81
  },
  "torque": {
    "_type": "geometry/Vector3",
    "x": 0.1,
    "y": 0.0,
    "z": 0.0
  }
}

Long arrays are cut after 16 values and say so with “…”.

Functions

Constructors

Classmethods and staticmethods: ways to build one.

`from_array`

from_array(array: Any) -> Wrench

No docstring.

`from_dict`

from Msg

from_dict(data: Mapping[str, Any]) -> M

No docstring.

Methods

Return new values; messages are never mutated.

`as_array`

as_array() -> np.ndarray

(6,) = force xyz then torque xyz.

`replace`

from Msg

replace(**changes: Any) -> M

A copy with some fields changed. Validation runs again.

`to_dict`

from Msg

to_dict() -> dict[str, Any]

JSON-safe dict with a "_type" key; arrays keep their dtype and shape.

Operators

Python operators and protocols the type supports.

`add`

__add__(other: object) -> Wrench

No docstring.

`mul`

__mul__(scalar: object) -> Wrench

No docstring.

`rmul`

__rmul__(scalar: object) -> Wrench

No docstring.

`sub`

__sub__(other: object) -> Wrench

No docstring.

Uses

Types its fields refer to.

Vector3