src/conntact/assembly_tools.py
def wrenchToArray(wrench: Wrench):
        """Restructures wrench object into numpy array with order needed by wrench reinterpretation math, namely, torque first then forces.
        :param wrench: (geometry_msgs.Wrench) Input wrench.
        :return: (np.Array) 1x6 numpy array 
        """
        return np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z, wrench.force.x, wrench.force.y, wrench.force.z])
Restructures wrench object into numpy array with order needed by wrench reinterpretation math, namely, torque first then forces.
        :param wrench: (geometry_msgs.Wrench) Input wrench.
        :return: (np.Array) 1x6 numpy array 
        
Restructures wrench object into numpy array with order needed by wrench reinterpretation math, namely, torque first then forces.
Restructures wrench object into numpy array with order needed by wrench reinterpretation math namely torque first then forces .
def wrenchToArray(wrench: Wrench):
        return np.array([wrench.torque.x, wrench.torque.y, wrench.torque.z, wrench.force.x, wrench.force.y, wrench.force.z])
def wrenchToArray ( wrench : Wrench ) : return np . array ( [ wrench . torque . x , wrench . torque . y , wrench . torque . z , wrench . force . x , wrench . force . y , wrench . force . z ] )
Restructures wrench object into numpy array with order needed by wrench reinterpretation math, namely, torque first then forces.
Restructures wrench object into numpy array with order needed by wrench reinterpretation math namely torque first then forces .
"""Restructures wrench object into numpy array with order needed by wrench reinterpretation math, namely, torque first then forces.
        :param wrench: (geometry_msgs.Wrench) Input wrench.
        :return: (np.Array) 1x6 numpy array 
        """
(np.Array) 1x6 numpy array
( np . Array ) 1x6 numpy array
wrench
Wrench
(geometry_msgs.Wrench) Input wrench.
( geometry_msgs . Wrench ) Input wrench .