joint torque/velocity values from 3D vectors?

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Hi all,

Im using the baxter sim in gazebo, and wondering if there was a way to control torque (and/or velocity) values by inputting a 3D vector instead of using the set_joint_torques() and set_joint_velocities() functions directly. I want to be able to push an object with low and high force, depending on the mass of the object. Is there a way to convert the 3D force/torque vectors to the desired joint efforts.

Thanks!!