#!/usr/bin/env python
import rospy, time
#from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from geometry_msgs.msg import WrenchStamped, Wrench, Vector3

def callback(msg):
	rospy.loginfo("Torque Force sensor output!")
	rospy.loginfo("Force Components: [%f, %f, %f]"%(msg.wrench.force.x, msg.wrench.force.y, msg.wrench.force.z))
	

def listener():

    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber("/wrist_ft", WrenchStamped, callback)

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

if __name__ == '__main__':
	listener()


