From 1787f71500decbb37c7072006767f0d4423f1403 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 10 Dec 2024 15:08:28 +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 86016 -> 90112 bytes
 python/ur_simple_control/managers.py      |   9 +++++++--
 4 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/python/examples/.clik.py.swp b/python/examples/.clik.py.swp
index 4438b4539dfae46e05155e37a5b377088c0317ec..9c4620c0d668826a8e54cfce968eb920e7683736 100644
GIT binary patch
delta 244
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delta 236
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diff --git a/python/examples/clik.py b/python/examples/clik.py
index 6019d84..7523f9a 100644
--- a/python/examples/clik.py
+++ b/python/examples/clik.py
@@ -5,7 +5,7 @@ import pinocchio as pin
 import argcomplete, argparse
 from functools import partial
 from ur_simple_control.managers import getMinimalArgParser, ControlLoopManager, RobotManager
-from ur_simple_control.clik.clik import getClikArgs, getClikController, controlLoopClik, moveL, compliantMoveL
+from ur_simple_control.clik.clik import getClikArgs, getClikController, controlLoopClik, moveL, compliantMoveL, moveLDualArm
 from ur_simple_control.util.define_random_goal import getRandomlyGeneratedGoal
 
 
diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
index 3a2910e7ffffed89116bbd36f515fd0e9b24f0e7..b5e7d7c6a7a8a2987f0b1ec5cf8236172454a81d 100644
GIT binary patch
delta 867
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delta 386
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diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index fdaaa3b..87f6fe7 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -281,8 +281,13 @@ class ControlLoopManager:
         if i % 20 == 0:
             # don't send what wasn't ready
             if self.args.visualize_manipulator:
-                self.robot_manager.visualizer_manager.sendCommand({"q" : self.robot_manager.q,
-                                                      "T_w_e" : self.robot_manager.getT_w_e()})
+                if self.robot_name != "yumi":
+                    self.robot_manager.visualizer_manager.sendCommand({"q" : self.robot_manager.q,
+                                                          "T_w_e" : self.robot_manager.getT_w_e()})
+                else self.robot_name != "yumi":
+                    T_w_e_left, T_w_e_right = self.robot_manager.getT_w_e()
+                    self.robot_manager.visualizer_manager.sendCommand({"q" : self.robot_manager.q,
+                                                          "T_w_e" : T_w_e_left})
                 if self.robot_manager.robot_name == "heron":
                     T_base = self.robot_manager.data.oMi[1]
                     self.robot_manager.visualizer_manager.sendCommand({"T_base" : T_base})
-- 
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