From 0a101c7abe65d867e95b29f8775cae1a7386a91f Mon Sep 17 00:00:00 2001 From: m-guberina <gubi.guberina@gmail.com> Date: Tue, 10 Dec 2024 14:40:08 +0100 Subject: [PATCH] cm --- python/examples/.clik.py.swp | Bin 12288 -> 12288 bytes python/examples/clik.py | 2 +- python/ur_simple_control/.managers.py.swp | Bin 0 -> 81920 bytes python/ur_simple_control/clik/.clik.py.swp | Bin 40960 -> 40960 bytes python/ur_simple_control/managers.py | 2 ++ 5 files changed, 3 insertions(+), 1 deletion(-) create mode 100644 python/ur_simple_control/.managers.py.swp diff --git a/python/examples/.clik.py.swp b/python/examples/.clik.py.swp index 170a055deeb26d0d8c333e4a1a4337f2328b14a5..4438b4539dfae46e05155e37a5b377088c0317ec 100644 GIT binary patch delta 126 zcmZojXh;xEG6?hZRj|-AVqjok5MW^FbdE@`+bH^8p7kX=1H;A1oC=d&H*zsB^m8#V zv~n>pL~=1O=yEYIeBoqZxXsDHaF~;UVKFBILnkK#LkA}VLn<c&gEc1ugBd3Sg90Z5 f!ygU?hD#g_3>P;)RQSlg__78Qqt)iiTDq(N2!$Me delta 125 zcmZojXh;xEG6?hZRj|-AVqjok5MW^NbB;*2-zfTCp7j+w1H+}soC=d&H*qmAOyFW* 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ncmZoTz|?SnNi@kI%+puFLeGeSfq_AQfx*!^BE52>=<E3aj@1b4 delta 32 ncmZoTz|?SnNi@kI%+puFLeGeSfq_AQfx*f-BHezY=<E3ajdTdB diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py index 1360ab9..00841ae 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): """ -- GitLab