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swri-robotics / ConnTact

assembly software framework
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Wrench orientation incorrect with non-vertical TCP orientation #25

Closed John-Bonnin closed 1 year ago

John-Bonnin commented 2 years ago

The wrench transform pipeline doesn't handle angled contacts correctly. This should be fairly easy to solve with some transform math. The original wrench is already Stamped, so we should be able to do a DoTransform, or maybe convert the two vectors to Point objects and transform them individually.

John-Bonnin commented 1 year ago

Top priority for long-term goodness. I'll get to it this week.

John-Bonnin commented 1 year ago

See PR #34