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 zcmZojXh;xEG6?hZRj|-AVqjok5MW@4ca2DI-YEKBp7l061H<9ToC@0YbNCn-eEAp{ zeE1j`y!jXytoaxiB={H@Zt^lP^zkw<<nl5w2=Ov7%;8~RDCc2dh~Qyh@Ze!!aOYuQ z(B@%a5anTD_{Pn^aEY6NVKFxYLk%|rgBLdggEBV*gCsWt!#gephGSd|42!uK7#g`4 z7|OXA7`(X{805Ja7@l!5=rNq-WMJ6J$-pp`lYya{lYya%lYt?elYv2(lYv2llYv2q ulY!wK2Lr<q4hDw9n;$AXX5V~C!;OtkM<F-AEY-)QG%?4qD0i}i{tE!=nJk9@ delta 236 zcmZojXh;xEG6?hZRj|-AVqjok5MW^FbdE@`+bH^8p7kX=1H;A1oC@0YtN0igqWKsY zqWBmXBKa5?Joy+H)c6<}p7Sy=%;9BVsODv0P~c@?SjEG@(8|NWkjBHn5XQs65X!^A zV9CS4pv=R-z{118@PM0vVIwyKLl-v#Lj*SigCREqgE}_@!yhgNhAUhQ3>&!^82Y&w z7+Sd)7$UhC7<9Q97`|{a=rP>pWMDYV$-uCflYya=lYyawlYt?XlYzmSlYzmElYv2j nlY!w62Lr<;4hDvcn;$AXW}o<gZ}SliH@3+>dJ>Zj^e+GaSd1&e diff --git a/python/examples/clik.py b/python/examples/clik.py index 6019d84..7523f9a 100644 --- a/python/examples/clik.py +++ b/python/examples/clik.py @@ -5,7 +5,7 @@ import pinocchio as pin import argcomplete, argparse from functools import partial from ur_simple_control.managers import getMinimalArgParser, ControlLoopManager, RobotManager -from ur_simple_control.clik.clik import getClikArgs, getClikController, controlLoopClik, moveL, compliantMoveL +from ur_simple_control.clik.clik import getClikArgs, getClikController, controlLoopClik, moveL, compliantMoveL, moveLDualArm from ur_simple_control.util.define_random_goal import getRandomlyGeneratedGoal diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp index 3a2910e7ffffed89116bbd36f515fd0e9b24f0e7..b5e7d7c6a7a8a2987f0b1ec5cf8236172454a81d 100644 GIT binary patch delta 867 zcmZozz}j$tRW!*U%+puFLeGeSfq_AQfx*o?BE4>-=v#h9k;%*gy^LIwCkluQih^Vr z7#O^vwA|*I0`B~q6j%y)AM-LWsPjQIb4?bUpj{8*IrA|vOyy-@h~Q;lkl|%uILO1m z(89yO;LgLq@S2-};T1On!(MI%h8%7N219NJ23BqchErS&3>&!^7&dS*FwEs*V5s3@ zVDRT+V9@7cU|`~6U|{58V0g;Oz;K$Afnh5r1H%?h28J3=28K9J1_pah1_mKc28QPx z4D}2%IT#okI2ai6I2af-I2afnurn}BWoKZpV`pG^%f`U4fsKJ-JsSf<0viK^FB=2H zKUM~YtE>zR3t1T$nphba{;@DHTxVfm*ucWTP{qQ)ki){jAj87I@QIm$;UhBx!*ON? zhTY5z49l4r7$!3_Fa$6&Fjz1%Fz_%lFdSo2U|^_WVqhp>Vqnl^Vqo~i$iQ%dk%3_b zBLhP@BLhPU<K%>cV$=P&82L9hOkBY;IpC@CWSwLDlf`EWOq$8MId9&ijrEBs3=9(( z7#MCaLIM^R?sNGW7%cf27&!SE820ipFhub&FmUoQFr49KV3@$mz+lSD!0>~Ifnhff z14BFy14A4S1A`$C1H%Ju28N~F3=Ear3=DSM3=FE=3=AsV3=D$Y3=AK*7#I$7F)%FV zVqhraVqhrcVyI_`<YHj3=VD;c<YHjZ;9_9-z{$XHiIah0GbaN>8z%!pG$#WCFDC=T z7Y+u7M;r_cb2u0nLO2*0I5`*?HnB4>B(gIwsIW6ID6=y#Tw!BiILOApP{hW-;K|0o zAj-zT@Qsy$p@@}%!JCzVL4}op;T;PD!vhuuh6yYT3~4OR3=F9(3=GyR3=H}#3=GmN z3=Hfn3=Bt@85q_uGcYtTGcZ^&GcbH$Vqkc}#K5qSiGd-HiGjg}iGhKKiGkrYBLl;Y z$&7{06CXHE&VR@Q3T$Bz0Sa*+p2-KMu}nTQmy0JPzC1oPJ|{J;q*inC!8x9jt>&pu zeizFjiIC7yfUt`)(=$pGY$q$u6q$VTk2FhaPI2mF>0=6$r!VH6o}k63Hu>aSTd=_b Povf1urt(deoM!_7jz^_1 delta 386 zcmZoTz}m2YRW!*U%+puFLeGeSfq_AQfq~sMBE4~==v#h9;mOPby^H~qCklvfJ|SSi zKk<RWCIyxPUQPxEhEzs~>VV0D6SV8U@iH(><7Hro<Yi!x<z-+v#KXYQ%EQ3m!Nb7t zhMR%mH8%spK5hnvTy6#iBW?x;Hf{!n(_9P;o46PlHgYjA%;REUsO4f{2;gF1FyLZf zVCG_AVB%t6c*e=VaE6nCVH+m{!&XiPhFVSrhImc}1_w?C24PMHh8G+R46`^G>KPh2 z7#Q+77#K7;7#JS1GcZhJXJD{rXJB~8#=x+Vje%hU8v{ck8v}zM8w10CRtAP^tPBi` zSQ!|aSs57qvoJ8+U}0d`$il!-&BDNt%fi4Q%fi6$nVEs%6Eg$D31$X{J<JRYE0`G= zrZ6)w1Tr%)STZv(@G>(n9A{!+sAW=MU?^l_V9;Y?VEE0*z;Ke0fng>i149KPB%D$h dC&wQY-&`<pJJ0k9ag3Ie&pqeeoHuXMMgU4oN3;L{ 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}) -- GitLab