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Commit 55232de9 authored by m-guberina's avatar m-guberina
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modelling

parent 3a88c9a7
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......@@ -456,6 +456,14 @@ class RobotManager:
# so that the control designer doesn't need to think about such bs
#self.JOINT_ID = 6
self.ee_frame_id = self.model.getFrameId("tool0")
if self.robot_name == "yumi":
self.r_ee_frame_id = self.model.getFrameId("robr_joint_7")
self.l_ee_frame_id = self.model.getFrameId("robl_joint_7")
# JUST FOR TEST
# NOTE
# NOTE
# NOTE
self.ee_frame_id = self.model.getFrameId("robr_joint_7")
#self.ee_frame_id = self.model.getFrameId("hande_right_finger_joint")
# TODO: add -1 option here meaning as fast as possible
self.update_rate = args.ctrl_freq #Hz
......
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