added some sliding primitive stuff

Author: taylorott

src/ControlandExecution/impedance_control_barrier_function.py

@@ -327,7 +327,7 @@ def run_modular_barrier_controller(self,command_dict):
 
                 hand_rotation_vector = compute_rotation_vector(hand_pivot_vertex,current_xyz_theta_robot_frame,theta_hand)
 
-                error_dict['error_theta_relative'] = -kh.mod2pi(np.arctan2(self.rm.measured_contact_wrench[1],self.rm.measured_contact_wrench[0]))
+                # error_dict['error_theta_relative'] = -kh.mod2pi(np.arctan2(self.rm.measured_contact_wrench[1],self.rm.measured_contact_wrench[0]))
                 # print(temp_theta_error)
             else:
 

src/Modelling/modular_barrier_controller.py

@@ -153,7 +153,7 @@ def update_controller(self, mode, theta_hand, contact_wrench, friction_parameter
 
         if torque_bounds is not None:
             torque_bound_delta = torque_bounds[1]-torque_bounds[0]
-            self.torque_bounds = [torque_bounds[0]+.025*torque_bound_delta,torque_bounds[1]-.025*torque_bound_delta]
+            self.torque_bounds = [torque_bounds[0]+.025*torque_bound_delta,torque_bounds[1]-.05*torque_bound_delta]
 
         else:
             self.torque_bounds = torque_bounds