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Cartesian wrench controller. More...
#include <cartesian_wrench_controller.h>
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. |
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