Integrate compliance control

au-rmr / aurmr_tahoma

ROS workspace for our UR16e workcell

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Closed collindang88 closed 6 months ago

collindang88 commented 1 year ago

integrated compliance/impedance control into state machine with controller switching logic
increased joint limits in MoveIt! config from [-3.14, 3.14] to [-6.28, 6.28]
increase MoveIt! max velocity factor from .2 to .5

nickswalker commented 6 months ago

^Closed due to pruning the stale target branch. I know @mmurray has been looking at rebasing this from main and testing.