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Commit 412b12b6 authored by m-guberina's avatar m-guberina
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python/examples/.cart_pulling.py.swp
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python/ur_simple_control/clik/.clik.py.swp
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python/ur_simple_control/clik/clik.py
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...@@ -621,6 +621,7 @@ def controlLoopClikDualArmsOnly(robot : RobotManager, clik_controller, goal_tran ...@@ -621,6 +621,7 @@ def controlLoopClikDualArmsOnly(robot : RobotManager, clik_controller, goal_tran
qd_left = clik_controller(J_left, err_vector_left) qd_left = clik_controller(J_left, err_vector_left)
qd_right = clik_controller(J_right, err_vector_right) qd_right = clik_controller(J_right, err_vector_right)
qd = qd_left + qd_right qd = qd_left + qd_right
qd = np.hstack((np.zeros(3), qd))
robot.sendQd(qd) robot.sendQd(qd)
log_item['qs'] = q.reshape((robot.model.nq,)) log_item['qs'] = q.reshape((robot.model.nq,))
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