CartesianImpedanceControlCommand.Request

• Source proto: rb/api/basic_command.proto

Request payload for CartesianImpedanceControlCommand.

Field	Type	Label	Description
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration		default = 0
targets	CartesianImpedanceControlCommand.SE3PoseTarget	repeated
joint_position_targets	CartesianImpedanceControlCommand.JointPositionTarget	repeated
stop_position_tracking_error	google.protobuf.DoubleValue
stop_orientation_tracking_error	google.protobuf.DoubleValue
stop_joint_position_tracking_error	google.protobuf.DoubleValue
joint_stiffness	double	repeated
joint_damping_ratio	google.protobuf.DoubleValue		default = 1
joint_torque_limit	double	repeated
joint_limits	CartesianImpedanceControlCommand.JointLimit	repeated
reset_reference	google.protobuf.BoolValue		default = false
nullspace_joint_target	CartesianImpedanceControlCommand.NullspaceJointTarget