cm

python/examples/clik.py

@@ -35,7 +35,7 @@ if __name__ == "__main__":
         moveL(args, robot, Mgoal)
     else:
         goal_transform = pin.SE3.Identity()
-        goal_transform.translation[0] = 0.1
+        goal_transform.translation[1] = 0.1
         moveLDualArm(args, robot, Mgoal, goal_transform)
     robot.closeGripper()
     robot.openGripper()

python/ur_simple_control/managers.py

@@ -281,10 +281,10 @@ class ControlLoopManager:
         if i % 20 == 0:
             # don't send what wasn't ready
             if self.args.visualize_manipulator:
-                if self.robot_name != "yumi":
+                if self.robot_manage.robot_name != "yumi":
                     self.robot_manager.visualizer_manager.sendCommand({"q" : self.robot_manager.q,
                                                           "T_w_e" : self.robot_manager.getT_w_e()})
-                else self.robot_name != "yumi":
+                else:
                     T_w_e_left, T_w_e_right = self.robot_manager.getT_w_e()
                     self.robot_manager.visualizer_manager.sendCommand({"q" : self.robot_manager.q,
                                                           "T_w_e" : T_w_e_left})