docs/figs/activity_architecture.svg

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local_cart_vel;</text></g><rect x="560" y="104" width="200" height="26" fill="none" stroke="rgb(240, 240, 240)" pointer-events="none"/><g fill="rgb(240, 240, 240)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-109-192-26-0)" font-size="12px"><text x="565.5" y="121.5">KDL::Frame local_cart_pos;</text></g><rect x="560" y="130" width="200" height="26" fill="none" stroke="rgb(240, 240, 240)" pointer-events="none"/><g fill="rgb(240, 240, 240)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-135-192-26-0)" font-size="12px"><text x="565.5" y="147.5">double local_cmd_jnt_vel[7];</text></g><rect x="560" y="156" width="200" height="26" fill="none" stroke="rgb(240, 240, 240)" pointer-events="none"/><g fill="rgb(240, 240, 240)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-161-192-26-0)" font-size="12px"><text x="565.5" y="173.5">double local_cmd_wrench[6];</text></g><path d="M 280 26 L 280 0 L 460 0 L 460 26" 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