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
-- 
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