From 24ea9a4b3a7a5a704603a49228825d8a0728dac6 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 10 Dec 2024 16:37:44 +0100
Subject: [PATCH] cm
---
python/examples/.cart_pulling.py.swp | Bin 32768 -> 32768 bytes
python/examples/cart_pulling.py | 14 ++++++++++++--
python/ur_simple_control/clik/.clik.py.swp | Bin 36864 -> 36864 bytes
3 files changed, 12 insertions(+), 2 deletions(-)
diff --git a/python/examples/.cart_pulling.py.swp b/python/examples/.cart_pulling.py.swp
index 1e3db6e2e2ea153f62b9d8f4e40c73cfd5e6ea9b..b7c97396aebcf2267653da4c60596a8c43fb31f2 100644
GIT binary patch
delta 538
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zW4mv>3=C&^85nAK85r_-85rz%85nqZ85mCSFfc6OVPJ^mVPKHrVPLq<&A`yY&A{Nx
z&A{-Ui-BQ27s#Z|j4a<cCvUJ|nOvHqJ^5VD)5+^|HJIXaCST9htXEd>bqo&n40BZo
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delta 116
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diff --git a/python/examples/cart_pulling.py b/python/examples/cart_pulling.py
index 86dca38..66b33e7 100644
--- a/python/examples/cart_pulling.py
+++ b/python/examples/cart_pulling.py
@@ -194,8 +194,18 @@ def cartPullingControlLoop(args, robot : RobotManager, goal, solver_grasp, solve
if past_data['priority_register'][-1][1] == '1' and priority_register[1] == '0':
# create straight line path from ee to base
p_cart = q[:2]
- p_ee = T_w_e.translation[:2]
- straigh_line_path = np.linspace(p_ee, p_cart, args.past_window_size)
+ if robot.robot_name != "yumi":
+ p_ee = T_w_e.translation[:2]
+ straigh_line_path = np.linspace(p_ee, p_cart, args.past_window_size)
+ else:
+ p_ee_l = T_w_e_left.translation[:2]
+ p_ee_r = T_w_e_right.translation[:2]
+ # MASSIVE TODO: have two different REFERENCES FOR TWO ARMS
+ # EVILLLLLLLLLLLLLLLLLLLLLLLLLLll
+ # MASSIVE TODO: have two different REFERENCES FOR TWO ARMS
+ # MASSIVE TODO: have two different REFERENCES FOR TWO ARMS
+ # MASSIVE TODO: have two different REFERENCES FOR TWO ARMS
+ straigh_line_path = np.linspace(p_ee_l, p_cart, args.past_window_size)
# time it the same way the base path is timed
time_past = np.linspace(0.0, args.past_window_size * robot.dt, args.past_window_size)
s = np.linspace(0.0, args.n_knots * args.ocp_dt, args.past_window_size)
diff --git a/python/ur_simple_control/clik/.clik.py.swp b/python/ur_simple_control/clik/.clik.py.swp
index 3dd35d54e6b1f3bcee9bb7b2e5175e414d2190fc..4f63782936cd661ef1ccba5b4d9e81eb3873b0a1 100644
GIT binary patch
delta 32
ncmZozz|^pSNi@kI%+puFLeGeSfq_AQfuScpB7NIN(bxR|j2Q_)
delta 32
ncmZozz|^pSNi@kI%+puFLeGeSfq_AQfgvwGBK^=t(bxR|i$@7A
--
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