John-Bonnin
John-Bonnin
Changed how motion is defined and documented the new setup.
The wrench transform pipeline doesn't handle angled contacts correctly. This should be fairly easy to solve with some transform math. The original wrench is already Stamped, so we should be...
The robot currently can't receive an orientation command relative to the hole. Changing orientations is dangerous, causing fast unplanned motion of the wrist as it orbits around the TCP. To...
Conntact is meant to be suitable, and indeed is suitable, for *_any_* robot solution to a robotics problem. The readme needs to make this clear. Right now it's too focused...
Add better inline documentation, and update old notes. Especially in conntext, connstep, and conntask. Remove unneeded comments and commented-out code.
We need to split the contents of this package into - Conntact - from `src/conntact` - assembly_utils **rename to something Conntact-related - conntact_interface - conntask - conntext - ros_conntact_interface **move...
In ros_contact_interface.py we have a messy and unoptimized loop to repeatedly try to switch controllers. Clean it up!
Also make as many methods into functions as possible.
Right now the two still live in one module, but best practice is to split them. This way it's easier to refer to the base class while developing your implementation.