From 9462a59eadcabcef8a859cebc898d49876f5f540 Mon Sep 17 00:00:00 2001 From: m-guberina <gubi.guberina@gmail.com> Date: Tue, 10 Dec 2024 15:11:25 +0100 Subject: [PATCH] cm --- python/examples/.clik.py.swp | Bin 12288 -> 12288 bytes python/examples/clik.py | 2 +- python/ur_simple_control/.managers.py.swp | Bin 90112 -> 90112 bytes python/ur_simple_control/managers.py | 4 ++-- 4 files changed, 3 insertions(+), 3 deletions(-) diff --git a/python/examples/.clik.py.swp b/python/examples/.clik.py.swp index 9c4620c0d668826a8e54cfce968eb920e7683736..1db23ff573d61056928c496f846f9fca07b40603 100644 GIT binary patch delta 25 gcmZojXh_)Lq{U$vt6-~Opl3K)PD^}qqSky?0A)D`Qvd(} delta 25 gcmZojXh_)Lq{U$nt6-~Opl3K)PD^}qqSky?0A(l#QUCw| diff --git a/python/examples/clik.py b/python/examples/clik.py index 7523f9a..d450674 100644 --- a/python/examples/clik.py +++ b/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() diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp index b5e7d7c6a7a8a2987f0b1ec5cf8236172454a81d..1207a0999fb68434c4d8ed30f2d2bc6621e58b20 100644 GIT binary patch delta 469 zcmZoTz}j$tRW!*U%+puFLeGeSfq_AQfnmFMM0&|a(f9qV*LWEiq$YDtFlLn6Y&+pD z@ASlQM&aoWF^sH}3+D1nRyZa--8P<)WAeG@yqojpP1{(%ih+UQ6C=bJZ;){e3=DJm z85k`285orL85pkfF))<yF)%3eF)%#iWnfsv%fR5z%fKMS%fN7zhk>Dzhk>Djhk?PH zhk@Z2Hv_|dZU%<Q+zbp6+zbr%+zbqM+zbrb+zbp{+zbqNxfmGsaxpMW;9_9t=VD+e z=3=O4h~#2maOPrQaN=TM;NoInc*DuSaF&ySVF4!tLn$W%gE}Vz10N>?!ygU?hHV@S z40#+349Xk~3}@IG7^>MB80^>?7;M=Y7~ZilFx+NiVCZ3EU`S?TV9;k{U=RTDSs55o zSs57YSQ!{NSQ!|8u`n>KVqsutU}0dWXR&8s2xVbl@MK|NFlAw2P-J0XxW~-EaEzIO zVHPt3LkKei0~a#`!#^elhTTjI3>{1i3}H+R3~Eda46IBH44<Yu1~P7%{veQ%W%9dN z_R0GWu}%Na&B(dAexeW0<O9=KCZC?mHQhIk@xo+-LqgLNv>4T(qE^!jVi+x^KaFRU F1^~cfUo`*# delta 420 zcmZoTz}j$tRW!*U%+puFLeGeSfq_AQfx*o?BE4>-==*-w$Gi*->XSJq7&EGGww-X7 zclz8oM&8K*Pn9R@9OK^{IdApG`UwmS3^y1d8ofaVFfcI8<!4~9<Y!>u<Y!>m%g4YF z#mB(F$;ZHOhL?e10xtuDDK7)V4;}`F-8>8o@jMI+aXbtRhCB=m54af^mU1&NRB|&g z*l{y3sB$wfsBkkd2y!zpeBfeWILyVsu$YU1p^S@xp_Ge(A(D%sp241rfkBgtfkA_d zf#Cxu1H&aw28PX?3=D0Y3=Gkn3=F)S3=Cg57#JRLFfh#FU|<O0U|`_nU|`t9&cKk! z&cL9;&cL9|&cJYmje+4H8v{cT8v}zU8v}zV8w0~PRtAP5Rt5%dRt5$YRtAQ5EDQ_} zSQr>4urM&Bu`n>Cve+{)ShFxN=(8{|NV707u(L2Q9ARc)Si{V~(7?>VV8zV9@PUbe z;RzE1!$KwohCC()1{)>@1|B8`hS!V?3^%4b1~P8iTtCr=XYzq*EYoA-7;jCMKBh2T NJ&w^~dTl&oGXS0)OY{H$ diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py index 87f6fe7..82b0c4c 100644 --- a/python/ur_simple_control/managers.py +++ b/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}) -- GitLab