From de5775d96ead69b3a3d02435c91de52fdf83699f Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 10 Dec 2024 15:57:09 +0100
Subject: [PATCH] cm
---
.../optimal_control/.crocoddyl_mpc.py.swp | Bin 32768 -> 32768 bytes
.../.crocoddyl_optimal_control.py.swp | Bin 53248 -> 53248 bytes
.../crocoddyl_optimal_control.py | 4 ++--
3 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/python/ur_simple_control/optimal_control/.crocoddyl_mpc.py.swp b/python/ur_simple_control/optimal_control/.crocoddyl_mpc.py.swp
index 6cd696f6d4eab96ea05e9f6248c28ce6b8b91ccf..c17dbc853afbb73baf10fc8e0ad325f99980e80e 100644
GIT binary patch
delta 15
WcmZo@U}|V!njpe-f_J0Xt9k$`MFp?`
delta 15
WcmZo@U}|V!njpfoRA{5vt9k$_j0KVa
diff --git a/python/ur_simple_control/optimal_control/.crocoddyl_optimal_control.py.swp b/python/ur_simple_control/optimal_control/.crocoddyl_optimal_control.py.swp
index 66611dacb8ead0c62400d66d3a0c15fbbddc7fd1..b627567f5f7baa20c97ef87c749e9283073497e2 100644
GIT binary patch
delta 125
zcmZozz}&EaSv1KY%+puFLeGeSfq_AQfniTrMEdfLqVMOkYH>0!?3>KFAYAu1Hv_|L
zZU%->ZUzP`ZU%;bTnr4GxfmEGaWOEIa4|3_a4|3(;ACLf57M!@cY!JA<S%noCQsNd
eIQjR=Y^I|4$@Xh}H*a3m!^o5qzuA7xL1h37t0hVR
delta 147
zcmZozz}&EaSv1KY%+puFLeGeSfq_AQfgv_5B7Ocw(f9LN^*9+A4o&7<5U%@|n}K02
zHv>aBHv@wWHv<C$Hv_{~E(V4vTnr3lTnr2<Tnr3HI2jlYgLG`}U0}*N`NLd|$rH8<
oPX4|!dvgCAg~<X_IVaoC7M-lHUSRX4Ro#qeg8Z9%)|4m%03}{5zyJUM
diff --git a/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py b/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py
index 942dae2..5b61558 100644
--- a/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py
+++ b/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py
@@ -516,7 +516,7 @@ def createBaseAndEEPathFollowingOCP(args, robot : RobotManager, x0):
# MASSIVE TODO: actually put in reference for left arm
path_ee[i],
state.nv)
- l_eeTrackingCost = crocoddyl.CostModelResidual(state, eePoseResidual)
+ l_eeTrackingCost = crocoddyl.CostModelResidual(state, l_eePoseResidual)
runningCostModel.addCost("l_ee_pose" + str(i), l_eeTrackingCost, args.ee_pose_cost)
r_eePoseResidual = crocoddyl.ResidualModelFramePlacement(
state,
@@ -524,7 +524,7 @@ def createBaseAndEEPathFollowingOCP(args, robot : RobotManager, x0):
# MASSIVE TODO: actually put in reference for left arm
path_ee[i],
state.nv)
- r_eeTrackingCost = crocoddyl.CostModelResidual(state, eePoseResidual)
+ r_eeTrackingCost = crocoddyl.CostModelResidual(state, r_eePoseResidual)
runningCostModel.addCost("r_ee_pose" + str(i), r_eeTrackingCost, args.ee_pose_cost)
--
GitLab