void MTMHaptics::convert_bodyForcetoSpatialForce(geometry_msgs::WrenchStamped &body_wrench){
visualize_haptic_force(body_force_pub);
rot_quat.setX(cur_mtm_pose.orientation.x);
rot_quat.setY(cur_mtm_pose.orientation.y);
rot_quat.setZ(cur_mtm_pose.orientation.z);
rot_quat.setW(cur_mtm_pose.orientation.w);
F7wrt0.setValue(body_wrench.wrench.force.x, body_wrench.wrench.force.y, body_wrench.wrench.force.z);
rot_matrix.setRotation(rot_quat);
F0wrt7 = rot_matrix.transpose() * F7wrt0;
body_wrench.wrench.force.x = F0wrt7.x();
body_wrench.wrench.force.y = F0wrt7.y();
body_wrench.wrench.force.z = F0wrt7.z();
visualize_haptic_force(spatial_force_pub);
}
