From e9b2f1e7b1824279ebd6c56059ea36be5d38d709 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 10 Dec 2024 15:31:35 +0100
Subject: [PATCH] cm
---
.../ur_simple_control/util/.get_model.py.swp | Bin 32768 -> 32768 bytes
python/ur_simple_control/util/get_model.py | 4 +++-
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/python/ur_simple_control/util/.get_model.py.swp b/python/ur_simple_control/util/.get_model.py.swp
index b26aa0f761f38c8893c849f32494045de31994d6..211a917f313e7c947709a4dce0ae1517672a931b 100644
GIT binary patch
delta 458
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delta 457
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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 1406e1f..1b088c6 100644
--- a/python/ur_simple_control/util/get_model.py
+++ b/python/ur_simple_control/util/get_model.py
@@ -185,7 +185,7 @@ def get_yumi_model():
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)
+ data_arms = pin.Data(model_arms)
# mobile base as planar joint (there's probably a better
# option but whatever right now)
@@ -226,6 +226,8 @@ def get_yumi_model():
# frame-index should be 1
model, visual_model = pin.appendModel(model_mobile_base, model_arms, geom_model_mobile_base, visual_model_arms, 1, pin.SE3.Identity())
+ data = model.createData()
+
return model, visual_model.copy(), visual_model, data
--
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