Example of DifferentialIKController using relative mode

[LuisRodriguezRuiz]

Hi,

I'm trying to find an example of the DifferentialIKController class using the relative mode (use_relative_mode=True in the config class) to understand how to properly set the parameters when relative positions are passed to the controller. All the examples I could find use absolute positions. I think that, in the teleoperation example in "scripts/environments/teleoperation//teleop_se3_agent.py", the relative mode is used. However I'm not able to find the exact piece of code that this script uses to interact with the DifferentialIKController. Does anyone know where this code is or where to find an example for DifferentialIKController using relative mode?

[RandomOakForest]

Thanks for posting this. Here is a link to the line in the code where you find this controller used. Unfortunately, we don't yet have a better doc to explain your request.