text: import ifrom_joy_msg as Ijoy
  from simulations_messages.msg import Vector3f
  import rospy
  class PendulumForceFromJouMsg(Ijoy.JoyMsgToRosMsg):
  
      def __init__(self, max_force):
          Ijoy.JoyMsgToRosMsg.__init__(self)
          self.force = Vector3f()
          self.max_force = max_force
  
      def update(self, joy_msg):
          self.force.x = joy_msg.axes[0] * self.max_force
          
      def get_ros_msg(self):
          rospy.logdebug("Joy steering msg x: %f", self.force.x, logger_name="joy_pendulum_force")
          return self.force
  
  