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0.05 * robot.model.velocityLimit) + #qd_left = invKinmQP(J_left, err_vector_left, lb=lb[3:], ub=ub[3:]) + #qd_right = invKinmQP(J_right, err_vector_right, lb=lb[3:], ub=ub[3:]) qd = qd_left + qd_right qd = np.hstack((np.zeros(3), qd)) robot.sendQd(qd) @@ -661,6 +664,31 @@ def controlLoopClikDualArmsOnly(robot : RobotManager, clik_controller, goal_tran # hence the empty dict return breakFlag, {}, log_item + +def moveLDualArmsOnly(args, robot : RobotManager, goal_point, goal_transform, run=True): + """ + moveL + ----- + does moveL. + send a SE3 object as goal point. + if you don't care about rotation, make it np.zeros((3,3)) + """ + #assert type(goal_point) == pin.pinocchio_pywrap.SE3 + robot.Mgoal = copy.deepcopy(goal_point) + clik_controller = getClikController(args) + controlLoop = partial(controlLoopClikDualArmsOnly, robot, clik_controller, goal_transform) + # we're not using any past data or logging, hence the empty arguments + log_item = { + 'qs' : np.zeros(robot.model.nq), + 'dqs' : np.zeros(robot.model.nv), + 'dqs_cmd' : np.zeros(robot.model.nv), + } + loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_item) + if run: + loop_manager.run() + else: + return loop_manager + if __name__ == "__main__": args = get_args() robot = RobotManager(args) diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py index 00c2447..e9ab1fb 100644 --- a/python/ur_simple_control/managers.py +++ b/python/ur_simple_control/managers.py @@ -936,7 +936,7 @@ class RobotManager: self.q = pin.integrate(self.model, self.q, qd_cmd * self.dt) if self.robot_name == "yumi": - qd_cmd = np.clip(qd, -0.1 * self.model.velocityLimit, 0.1 *self.model.velocityLimit) + qd_cmd = np.clip(qd, -0.01 * self.model.velocityLimit, 0.01 *self.model.velocityLimit) self.v_q = qd_cmd # if self.args.pinocchio_only: # self.q = pin.integrate(self.model, self.q, qd_cmd * self.dt) @@ -954,7 +954,7 @@ class RobotManager: msg.header.stamp = Time().to_msg() for i in range(3): msg.velocity[i] = qd_cmd[i] - for i in range(15, 30): + for i in range(15, 29): msg.velocity[i] = qd_cmd[i - 12] self.publisher_joints_cmd.publish(msg) -- GitLab