From 7924118dd14a2cd21506a512b4264baa83afeeb6 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 10 Dec 2024 16:32:46 +0100
Subject: [PATCH] cm
---
python/examples/.cart_pulling.py.swp | Bin 32768 -> 32768 bytes
python/examples/cart_pulling.py | 1 +
2 files changed, 1 insertion(+)
diff --git a/python/examples/.cart_pulling.py.swp b/python/examples/.cart_pulling.py.swp
index 71408b9b7087f65ed9fe6b5d1f62aec4aa34e49c..d083bfd1f0f0bb8d4c446be27b520c46e1d86836 100644
GIT binary patch
delta 308
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delta 291
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diff --git a/python/examples/cart_pulling.py b/python/examples/cart_pulling.py
index aaf3bac..86dca38 100644
--- a/python/examples/cart_pulling.py
+++ b/python/examples/cart_pulling.py
@@ -128,6 +128,7 @@ def cartPullingControlLoop(args, robot : RobotManager, goal, solver_grasp, solve
if robot.robot_name != "yumi":
graspOK, grasp_pose = isGripperRelativeToBaseOK(args, robot)
else:
+ goal_transform = pin.SE3.Identity()
graspOK, grasp_pose = areDualGrippersRelativeToBaseOK(args, goal_transform, robot)
# NOTE: this keeps getting reset after initial grasp has been completed.
# and we want to let mpc cook
--
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