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Added joint_state_hint for storing nullspace parameter. #63

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merged 2 commits into from
Oct 9, 2024
Merged

Added joint_state_hint for storing nullspace parameter. #63

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41dc986
Added joint_state_hint for storing nullspace paramter.
rlpratt12 Oct 7, 2024
30e99bc
Forgot to run pre-commit.
rlpratt12 Oct 7, 2024
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5 changes: 5 additions & 0 deletions moveit_studio_msgs/moveit_pro_controllers_msgs/msg/VelocityForceCommand.msg
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Expand Up @@ -22,3 +22,8 @@ float64 wrench_gain
# These can be modified at any time, and the controller will do its best to achieve them.
geometry_msgs/Twist twist
geometry_msgs/Wrench wrench

# Nullspace parameter to be optionally used for secondary control goal.
# Empty array will be ignored, otherwise array length must match number of degrees-of-freedom.
# These can be modified at any time, and the controller should do its best to minimize joint-space costs if a nullspace controller is implemented.
float64[] joint_state_hint
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