Cartesian task

A Cartesian task is specified by the type: Cartesian property. Its parameters are described below.

distal_link

specifies the robot link to be controlled (mandatory, must be a valid robot link)

base_link

specifies the robot link w.r.t. which the distal_link is controlled (optional, defaults to world)

use_local_subtasks

selects whether subtasks are defined w.r.t. the distal_link local frame, or w.r.t. the global (base_link) frame (optional, defaults to false)

orientation_gain

specifies the ratio between the orientation and position feedback; for instance, a value of orientation_gain: 2.0 means that an orientation error of 2 rad is recovered in the same time as a position error of 1 m.

Example

MyCartesianTask:
    name: left_arm
    type: Cartesian
    distal_link: arm1_8
    base_link: pelvis
    use_local_subtasks: true
    orientation_gain: 5.0