Speedl() with Force sensor feedback

[dgonzalez]

Force_mode, bouncing at contact!

I found that someone else got same issue as me, so I will link to that post. We are working on peg-in-hole task, which involves holding a rigid object in the gripper and applying specific force on the surface where peg should be inserted. We experience the issue of bouncing as well. When contact is made with the surface of the board/ hole the gripper jumps in the opposite direction instead of applying specified wrench. We did zero_ftsensor() before initiating force mode We did convert wrenc…