Cartesian wrench controller. More...
Cartesian wrench controller.
Controls the wrench at the end effector of a chain of the robot.
|type||Must be "CartesianWrenchController"|
|root_name||The name of the root link of the chain of links that you wish to control.|
|tip_name||The name of the tip link (end effector) of the chain of links that you wish to control.|