diff --git a/python/examples/.clik.py.swp b/python/examples/.clik.py.swp index 170a055deeb26d0d8c333e4a1a4337f2328b14a5..4438b4539dfae46e05155e37a5b377088c0317ec 100644 Binary files a/python/examples/.clik.py.swp and b/python/examples/.clik.py.swp differ diff --git a/python/examples/clik.py b/python/examples/clik.py index 5d728005134fec929b8099dadf6b6e21235d8804..6019d843643333ec0e8bc39cb1fabdb2903e70cc 100644 --- a/python/examples/clik.py +++ b/python/examples/clik.py @@ -31,7 +31,7 @@ if __name__ == "__main__": else: Mgoal = robot.defineGoalPointCLI() #compliantMoveL(args, robot, Mgoal) - if robot.robot_name != "yumi" + if robot.robot_name != "yumi": moveL(args, robot, Mgoal) else: goal_transform = pin.SE3.Identity() diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp new file mode 100644 index 0000000000000000000000000000000000000000..5243d519843b3b34678e49de7524e8fd6cebf026 Binary files /dev/null and b/python/ur_simple_control/.managers.py.swp differ diff --git a/python/ur_simple_control/clik/.clik.py.swp b/python/ur_simple_control/clik/.clik.py.swp index af83ac7f5436cadd1f4a612479c3a2b4869838d2..893aed9a168188743745e8438a098b2ef32071be 100644 Binary files a/python/ur_simple_control/clik/.clik.py.swp and b/python/ur_simple_control/clik/.clik.py.swp differ diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py index 1360ab9d4d3ffbcce64a81494774355bd3f909a1..00841aefb9d36b3f1a06370cb12603afef0f7f17 100644 --- a/python/ur_simple_control/managers.py +++ b/python/ur_simple_control/managers.py @@ -781,6 +781,8 @@ class RobotManager: pin.updateFramePlacement(self.model, self.data, self.r_ee_frame_id) self.T_w_e_left = self.data.oMf[self.l_ee_frame_id].copy() self.T_w_e_right = self.data.oMf[self.r_ee_frame_id].copy() + # NOTE: VERY EVIL, to bugfix things that depend on this like wrench (which we don't have on yumi) + self.T_w_e = self.data.oMf[self.l_ee_frame_id].copy() def _getQd(self): """