ApplyExternalWrench

This is a ROS service definition.

Source

# Apply one or more external wrenches to named bodies in the MuJoCo simulation.
#
# Each ExternalWrench in the array identifies its target body via
# wrench.header.frame_id (must match the MJCF body name).  All wrenches
# in a single call are validated atomically: if any body name is unknown
# the entire request is rejected and nothing is applied.
#
# The service call blocks until the longest wrench duration in the array
# has elapsed, then returns the response.

# Array of wrenches to apply simultaneously.
mujoco_ros2_control_msgs/ExternalWrenchArray wrenches

---

# True if all wrenches were accepted and scheduled.
bool    success

# Human-readable status message (e.g. error description when success is false).
string  message