From 7a8dba38a9f543544d192e821f2283cb8062c7a0 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 10 Dec 2024 15:30:21 +0100
Subject: [PATCH] cm
---
python/examples/.clik.py.swp | Bin 12288 -> 12288 bytes
.../ur_simple_control/util/.get_model.py.swp | Bin 32768 -> 32768 bytes
python/ur_simple_control/util/get_model.py | 12 ++----------
3 files changed, 2 insertions(+), 10 deletions(-)
diff --git a/python/examples/.clik.py.swp b/python/examples/.clik.py.swp
index cfa969c37f3da44874ff263c98f9fbf4d98d91ac..1bb300c0a63b261bebb28545e734d0d9d4aa80aa 100644
GIT binary patch
delta 30
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delta 30
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diff --git a/python/ur_simple_control/util/.get_model.py.swp b/python/ur_simple_control/util/.get_model.py.swp
index 79d1d380f57f95e5f65f7229101507be08baf750..b26aa0f761f38c8893c849f32494045de31994d6 100644
GIT binary patch
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diff --git a/python/ur_simple_control/util/get_model.py b/python/ur_simple_control/util/get_model.py
index 5dd857d..1406e1f 100644
--- a/python/ur_simple_control/util/get_model.py
+++ b/python/ur_simple_control/util/get_model.py
@@ -182,8 +182,8 @@ def get_yumi_model():
# in case pinocchio people decide to change their api.
#model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_path_absolute, mesh_dir_absolute)
model_arms = pin.buildModelFromUrdf(urdf_path_absolute)
- visual_model_arms = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.VISUAL, None, mesh_dir_absolute)
- collision_model_arms = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.COLLISION, None, mesh_dir_absolute)
+ visual_model_arms = pin.buildGeomFromUrdf(model_arms, urdf_path_absolute, pin.GeometryType.VISUAL, None, mesh_dir_absolute)
+ collision_model_arms = pin.buildGeomFromUrdf(model_arms, urdf_path_absolute, pin.GeometryType.COLLISION, None, mesh_dir_absolute)
data_arms = pin.Data(model)
@@ -198,14 +198,6 @@ def get_yumi_model():
joint_placement = pin.SE3.Identity()
#joint_placement.rotation = pin.rpy.rpyToMatrix(0, -np.pi/2, 0)
#joint_placement.translation[2] = 0.2
- # TODO TODO TODO TODO TODO TODO TODO TODO
- # TODO: heron is actually a differential drive,
- # meaning that it is not a planar joint.
- # we could put in a prismatic + revolute joint
- # as the base (both joints being at same position),
- # and that should work for our purposes.
- # this makes sense for initial testing
- # because mobile yumi's base is a planar joint
MOBILE_BASE_JOINT_ID = model_mobile_base.addJoint(parent_id, pin.JointModelPlanar(),
joint_placement.copy(), joint_name)
# we should immediately set velocity limits.
--
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