script_test_end_effector.py

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import rospy
from gazebo_msgs.srv import ApplyBodyWrench
from geometry_msgs.msg import Wrench
 
rospy.wait_for_service("/gazebo/apply_body_wrench")
apply_body_wrench_proxy = rospy.ServiceProxy(
    "/gazebo/apply_body_wrench", ApplyBodyWrench
)
wrench = Wrench()
wrench.force.x = 15.0
wrench.force.y = 0.0
wrench.force.z = 0.0
wrench.torque.x = 0.0
wrench.torque.y = 0.0
wrench.torque.z = 0.0
duration = -1
apply_body_wrench_proxy(
    body_name="arm_right_7_link", wrench=wrench, duration=rospy.Duration(duration)
)