Fixed wrench reinterpretation #34
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Merge pull request swri-robotics#28 from John-Bonnin/devel
…rm for reorientation. Works well. Need to add reinterpretation (swapping torque and force back and forth) with a streamiled adjoint math path.
…eems to be flawless. Need to add reinterpret back in.
…an output is correct, but worth trying now. Will check with corner search.
…terpret works as expected. Ready for use!
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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.