CartesianImpedanceControlCommand.NullspaceJointTarget#
Source proto:
rb/api/basic_command.proto
Field |
Type |
Label |
Description |
|---|---|---|---|
target_position |
repeated |
Length: DOF |
|
weight |
repeated |
Length: DOF, [0, inf), default = 1 |
|
k_p |
default = 0.2 |
||
k_d |
default = 0.2 |
||
cost_weight |
default = 1e-3 |