Task(Operational) Space Control of 7 DOF Manipulator with Gazebo Simulator

I implemented a task space control(operational space control) from scratch. Robot can be controlled through the command in task space. It doesn’t require “inverse kinematics“. “Task“ is defined by what you’d like to do. In the clip, the tasks are, “to maintain its fingertip at stationary point“ and “to orient its fingertip with the angle from 0 ~ 90 deg“. Traditionally, robot is controlled in joint space. This means that user needs to send command with a set of 7 joint angles. But ... what would happen if