From d3757e20202cd237638ab56a19d411984263d5c0 Mon Sep 17 00:00:00 2001
From: Your Name <marko.guberina@control.lth.se>
Date: Wed, 19 Feb 2025 14:55:17 +0100
Subject: [PATCH] solved bugs
---
python/examples/graz/clik_client.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/python/examples/graz/clik_client.py b/python/examples/graz/clik_client.py
index 925a570..c84889d 100644
--- a/python/examples/graz/clik_client.py
+++ b/python/examples/graz/clik_client.py
@@ -72,10 +72,10 @@ def controlLoopClikExternalGoal(
#print(*T_goal.translation)
print(*(T_w_e.translation), end=" ")
print(*(pin.Quaternion(T_w_e.rotation).coeffs()), end=" ")
- qd_cmd = np.clip(qd_cmd, -1 * self.max_qd, self.max_qd)
+ qd_cmd = np.clip(qd_cmd, -1 * robot.max_qd, robot.max_qd)
J = pin.computeFrameJacobian(robot.model, robot.data, q, robot.ee_frame_id, pin.ReferenceFrame.WORLD)
print(*(J @ qd_cmd), end=" ")
- print(*(i * robot.dt))
+ print(i * robot.dt)
# NOTE: this one is in the base frame! (as it should be)
# it is saved in robotmanager (because it's a private variable,
# yes this is evil bla bla)
--
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