From 412b12b62289a2c1c0ee16770c08d378c9f4824c Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 10 Dec 2024 16:34:40 +0100
Subject: [PATCH] cm

---
 python/examples/.cart_pulling.py.swp       | Bin 32768 -> 32768 bytes
 python/ur_simple_control/clik/.clik.py.swp | Bin 36864 -> 36864 bytes
 python/ur_simple_control/clik/clik.py      |   1 +
 3 files changed, 1 insertion(+)

diff --git a/python/examples/.cart_pulling.py.swp b/python/examples/.cart_pulling.py.swp
index d083bfd1f0f0bb8d4c446be27b520c46e1d86836..1e3db6e2e2ea153f62b9d8f4e40c73cfd5e6ea9b 100644
GIT binary patch
delta 32
ncmZo@U}|V!5=}A)^Ym4)&@*CSU|<knU=WUvNI$Sq^mRP|fSL$_

delta 32
ncmZo@U}|V!5=}A)^Ym4)&@*CSU|<knV7MC>k-l}K=<9j_hjj@*

diff --git a/python/ur_simple_control/clik/.clik.py.swp b/python/ur_simple_control/clik/.clik.py.swp
index ff59baee54e7127200fd0fece90f165788b8c014..3dd35d54e6b1f3bcee9bb7b2e5175e414d2190fc 100644
GIT binary patch
delta 154
zcmZozz|^pSNi@kI%+puFLeGeSfq_AQfgvwGBK^=t(cJ=!;hQfC7|ZkWGB7Z-GD0N7
zHwzkwGkS)wFfiD&FfdrLFfeeiFfg2CW?-1e%)k)F%)nsH%)lVQ%)lVd%)s!QiGkrM
z69dCBCI*K2ObiT#ObiTqObiT97#SGmFfuT-PA)VQ*}U5D2Giu^P{qlPk*7C%nr@E*
E0OX$^c>n+a

delta 150
zcmZozz|^pSNi@kI%+puFLeGeSfq_AQf#F3=MEbUkqPqnc!!}<OFqY>vXJBAh%?ObU
z+bn1x&ghxS!oZNg!oZ-%!ocvJnSo(DGXp~nGXp~+GXsMiGXsMyGXsMnGXn!RGXujL
wCI*J1ObiUunHU&Cm>3wim>3uiF+z-7J$YiI)#g^i8%&ekB9CqMG~FHr0O|`LIRF3v

diff --git a/python/ur_simple_control/clik/clik.py b/python/ur_simple_control/clik/clik.py
index 329a9ea..c643261 100644
--- a/python/ur_simple_control/clik/clik.py
+++ b/python/ur_simple_control/clik/clik.py
@@ -621,6 +621,7 @@ def controlLoopClikDualArmsOnly(robot : RobotManager, clik_controller, goal_tran
     qd_left = clik_controller(J_left, err_vector_left)
     qd_right = clik_controller(J_right, err_vector_right)
     qd = qd_left + qd_right
+    qd = np.hstack((np.zeros(3), qd))
     robot.sendQd(qd)
     
     log_item['qs'] = q.reshape((robot.model.nq,))
-- 
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