ConnTact
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swri-robotics
assembly software framework
Updated loop Hz and dependencies.rosinstall to accurately reflect working system state
Incoming wrench readings (conntext.average_wrench_gripper ) and outgoing wrench commands (topic ccc/target_wrench) are now correctly reoriented into task space and reinterpreted so that torques are about the tool tip.
Find all instances of the scalar "1000" and delete them so we can ask the user to always enter data into the configuration yamls in **meters**. In conntext, `get_pose_from_yaml` is...
There are several layers of config files: - peg_in_hole_params for the example ROS nodes - conntact_params for the conntact instance on this hardware - connfig for the current task instance...
No rotation speed parameter is exposed in conntext config. Actual speed of move/rotation achieved does not match conntext config file values. The robot moves much faster than the default ".03...