Modifies the trajectory update such that the goal of the updated trajectory is within the task manifold
update_filters:
- class: stomp_moveit/ConstrainedCartesianGoal
constrained_dofs: [1, 1, 1, 1, 1, 0]
cartesian_convergence: [0.005, 0.005, 0.005, 0.01, 0.01, 1.00]
joint_update_rates: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5]
max_ik_iterations: 100
- class: The class name.
- constrained_dofs: Indicates which cartesians DOF are fully constrained (1) or unconstrained (0). This vector is of the form [x y z rx ry rz] where each entry can only take a value of 0 or 1.
- cartesian_convergence: A vector of convergence values for each cartesian DOF [vx vy vz wx wy wz].
- joint_update_rates: The rates at which to update the joints during numerical ik computations.
- max_ik_iterations: Limit on the number of iterations allowed for numerical ik computations.