tff_controller/TaskFrameFormalism Message

int32 FORCE=1
int32 VELOCITY=2
int32 POSITION=3
Header header
    uint32 seq
    time stamp
    string frame_id
geometry_msgs/Twist mode
    geometry_msgs/Vector3 linear
        float64 x
        float64 y
        float64 z
    geometry_msgs/Vector3 angular
        float64 x
        float64 y
        float64 z
geometry_msgs/Twist value
    geometry_msgs/Vector3 linear
        float64 x
        float64 y
        float64 z
    geometry_msgs/Vector3 angular
        float64 x
        float64 y
        float64 z