From 55232de938dde4e8db488746b8fa7cc1291e5cd0 Mon Sep 17 00:00:00 2001 From: m-guberina <gubi.guberina@gmail.com> Date: Tue, 10 Dec 2024 13:46:55 +0100 Subject: [PATCH] modelling --- python/ur_simple_control/managers.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py index f3e8679..a9cd447 100644 --- a/python/ur_simple_control/managers.py +++ b/python/ur_simple_control/managers.py @@ -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 -- GitLab