Cartesian Space (Task Space)

Cartesian space (also called task space or operational space) describes a robot's configuration in terms of the position and orientation of its end-effector relative to a world or base frame, typically expressed as (x, y, z, roll, pitch, yaw) or (x, y, z, quaternion). Controlling a robot in Cartesian space is often more intuitive for imitation learning because human demonstrations map naturally to end-effector trajectories. The transformation from joint space to Cartesian space is called forward kinematics; the inverse is inverse kinematics.