WIP: Orientation/Motion Overhaul PR #24
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…rame or tcp position arent tested yet and may be dangerous. Orientation and changes thereof come next. Currently TCP and target frame are 180 degrees about X from each other, which will cause problems later. Will try to remove.
…Sam Spade. We investigated a dastardly communication bottleneck which was dropping data packets willy-nilly. Found the culprit lurking in opt/ros/noetic, the ur-client-library. It was ancient, a cluster of hoary shambling debs from more than a year ago. Ousting them in favor of a shiny build-from-source gave the diamonds back to the rightful dame. Goodnight, sweetheart.
WIP: Feature/reorient tcp
…sures from Conntext (working on a new commit to add these properly); changed ros_conntact_interface so you can draw config files from a different package than Conntact by passing the package name to the Interface at startup.
…oller gains to start some hardening with the new speeds allowed by our improved testing hardware.
…esting new speed limits.
…delay from state-change detection which has been there the whole time :| . It would gain confidence *from zero* up to the threshold before starting the timer, which would require (threshold) seconds to do since we devide by the cycle rate. Fixed it; however now exitThreshold is not accurate (not that anybody cares much). Values from .1 to 1 will map from about 50% to about 90%.
…ended spiral search hole detection time; increased motion gains.
…n commands next. To avoid breaking backward-compatibility and because quaternions are terrible, next step will be to change pose_vec (the general list format of pose, orientation command passed around) to use euler angles. If a 4-element list (quaternion) is passed in, it will automatically be replaced with a 0,0,0 rotation for safety.
…ning with four MoveModes for linear, planar, set, or free motion. Validated with pyplot unit tests. Trying on hardware next by substituting it in for pose_vec and arbitrary_axis_comply functions.
… the call stack to send movement commands - ConnTask now just asks ConnText to move according to current_step.current_move(current_position), which flattens the formerly 5-deep call chain to about 1 line. Much better. Backward compatability is broken; working on a solution to automatically detect when a third-party ConnTask defines its motions in the old way and automatically transcribe the inputs to the move_policy scheme.
…right after step creation; removed update_commands from execute method completely! Cleanup of dead code still pending.
…ucture? Can spiral_search_example just be added under Conntact without moving conntact to its own subdirectory?
…ing up cornersearch.
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Already changed orientations. Working on speed controls to prevent rapid movements for safety, and methods of defining desired motion policy. #23