message: Change orientation error to base frame
diff: @@ -157,8 +157,10 @@ void CartesianImpedanceExampleController::update(const ros::Time& /*time*/,
  orientation.coeffs() << -orientation.coeffs();
  }
  // "difference" quaternion
  - Eigen::Quaterniond error_quaternion(orientation * orientation_d_.inverse());
  + Eigen::Quaterniond error_quaternion(orientation.inverse() * orientation_d_);
  error.tail(3) << error_quaternion.x(), error_quaternion.y(), error_quaternion.z();
  + // Transform to base frame
  + error.tail(3) << -transform.linear() * error.tail(3);
  // compute control
  // allocate variables
  