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MovePolicy overhaul, readme changes #29
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Commits on Sep 15, 2022
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Current_pose is now relative to target_frame. Transitions of target_f…
…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.
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Commits on Sep 21, 2022
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Commits on Sep 23, 2022
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Commits on Oct 1, 2022
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Updated readme with results of the Pipeline Error Escapade, starring …
…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.
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Commits on Oct 11, 2022
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Merge pull request #2 from John-Bonnin/feature/reorient_tcp
WIP: Feature/reorient tcp
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Commits on Oct 12, 2022
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Updated peg-in-hole demo task location; removed half-baked safety mea…
…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.
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Commits on Oct 13, 2022
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Started moving lead-limiting code into AssemblyUtils; increased contr…
…oller gains to start some hardening with the new speeds allowed by our improved testing hardware.
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All code in; fixed some bad packing in publish_pose; ready to start t…
…esting new speed limits.
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Commits on Oct 18, 2022
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Fixed a bug in check_completion in ConnStep to eliminate a .9 second …
…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%.
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Commits on Oct 20, 2022
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Fixed exit condition math to remove a necessary 1 second delay; short…
…ended spiral search hole detection time; increased motion gains.
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New lead limiter is in place; replacing erroneously-flipped quaternio…
…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.
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Commits on Oct 21, 2022
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Safety commit; Im really going to do it this time. Got MovePolicy run…
…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.
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Commits on Oct 25, 2022
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Moved ownership of move_policy to the Connstep object. This tidies up…
… 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.
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Commits on Oct 26, 2022
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Simplified legacy support to interpret seeking_force and comply_axes …
…right after step creation; removed update_commands from execute method completely! Cleanup of dead code still pending.
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Commits on Oct 27, 2022
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Commits on Nov 1, 2022
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Runs perfectly. Question - do we want to move to this metapackage str…
…ucture? Can spiral_search_example just be added under Conntact without moving conntact to its own subdirectory?
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Commits on Nov 2, 2022
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Tested movepolicy without backward compatibility; works. Started sett…
…ing up cornersearch.
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Merge pull request #26 from John-Bonnin/separate_spiral_search
Separate spiral search
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Commits on Nov 9, 2022
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Readme mostly updated; also deleted lots of comments and streamlined …
…the code as I looked at it.
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Commits on Nov 10, 2022
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Merge pull request #27 from lcbw/rospy_fix
removing rospy from conntext
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Merge pull request #28 from John-Bonnin/devel
Merge in the readme changes
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Commits on Dec 2, 2022
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Made move_policy require orientation (ConnStep always passes current …
…ori as default). Made qToEu accept Quaternions
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Commits on Dec 9, 2022
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Added an is_alive method to conntact_interface which Conntask uses to…
… abort and shut down cleanly when you kill the process in the terminal. Also added this clean shutdown behavior to assembly_plotting. Got assembly_plotting back up and running: when we removed the silly all_states_calc method from the ConnTask loop, we stopped calling the override function in spiral_search which send data to the plotter.
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Commits on Dec 20, 2022
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Merge pull request #32 from John-Bonnin/fix_clean_abort_and_plotting
Fix clean abort and plotting
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