From fb52a7326233dc671b096d3498d67b3e73ce913e Mon Sep 17 00:00:00 2001
From: mama <marko.guberina@control.lth.se>
Date: Tue, 10 Dec 2024 18:49:12 +0100
Subject: [PATCH] micro fixes

---
 python/examples/.cart_pulling.py.swp          | Bin 32768 -> 0 bytes
 python/examples/cart_pulling.py               |   2 +-
 python/ur_simple_control.egg-info/SOURCES.txt |   1 -
 .../__pycache__/__init__.cpython-310.pyc      | Bin 391 -> 379 bytes
 .../__pycache__/managers.cpython-310.pyc      | Bin 34343 -> 35320 bytes
 .../__pycache__/__init__.cpython-310.pyc      | Bin 204 -> 192 bytes
 .../basics/__pycache__/basics.cpython-310.pyc | Bin 7112 -> 7100 bytes
 .../clik/__pycache__/__init__.cpython-310.pyc | Bin 200 -> 188 bytes
 .../dmp/__pycache__/__init__.cpython-310.pyc  | Bin 198 -> 186 bytes
 .../dmp/__pycache__/dmp.cpython-310.pyc       | Bin 9323 -> 9311 bytes
 .../optimal_control/__init__.py               |  12 ++++++------
 .../__pycache__/__init__.cpython-310.pyc      | Bin 193 -> 181 bytes
 .../util/__pycache__/__init__.cpython-310.pyc | Bin 179 -> 167 bytes
 .../__pycache__/get_model.cpython-310.pyc     | Bin 6609 -> 7638 bytes
 .../__pycache__/logging_utils.cpython-310.pyc | Bin 4375 -> 4363 bytes
 .../__pycache__/__init__.cpython-310.pyc      | Bin 184 -> 172 bytes
 .../__pycache__/visualize.cpython-310.pyc     | Bin 8702 -> 8744 bytes
 17 files changed, 7 insertions(+), 8 deletions(-)
 delete mode 100644 python/examples/.cart_pulling.py.swp

diff --git a/python/examples/.cart_pulling.py.swp b/python/examples/.cart_pulling.py.swp
deleted file mode 100644
index b7c97396aebcf2267653da4c60596a8c43fb31f2..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/python/examples/cart_pulling.py b/python/examples/cart_pulling.py
index 66b33e7..5687c6f 100644
--- a/python/examples/cart_pulling.py
+++ b/python/examples/cart_pulling.py
@@ -117,7 +117,7 @@ def cartPullingControlLoop(args, robot : RobotManager, goal, solver_grasp, solve
     if robot.robot_name != "yumi":
         T_w_e = robot.getT_w_e()
     else:
-        T_w_e_l, T_w_e_right = robot.getT_w_e()
+        T_w_e_left, T_w_e_right = robot.getT_w_e()
 
     # we use binary as string representation (i don't want to deal with python's binary representation).
     # the reason for this is that then we don't have disgusting nested ifs
diff --git a/python/ur_simple_control.egg-info/SOURCES.txt b/python/ur_simple_control.egg-info/SOURCES.txt
index bf3ed08..3780070 100644
--- a/python/ur_simple_control.egg-info/SOURCES.txt
+++ b/python/ur_simple_control.egg-info/SOURCES.txt
@@ -22,7 +22,6 @@ examples/comparing_logs_example.py
 examples/crocoddyl_mpc.py
 examples/crocoddyl_ocp_clik.py
 examples/drawing_from_input_drawing.py
-examples/heron_pls.py
 examples/joint_trajectory.csv
 examples/path_following_mpc.py
 examples/path_in_pixels.csv
diff --git a/python/ur_simple_control/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/__pycache__/__init__.cpython-310.pyc
index 013bf4c3c931ca6dca9274fbad730bf76f14dc35..81e8ebf8d6cc559fdd307bc77f8a665ed696259d 100644
GIT binary patch
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diff --git a/python/ur_simple_control/__pycache__/managers.cpython-310.pyc b/python/ur_simple_control/__pycache__/managers.cpython-310.pyc
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diff --git a/python/ur_simple_control/basics/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/basics/__pycache__/__init__.cpython-310.pyc
index 8edaa2f577ddfd74d815dee53f8265d38c0f2fca..a7316ce2482bd31d5f61d5ec5cc08a8d392a32b4 100644
GIT binary patch
delta 38
tcmX@Zcz}^RpO=@5fq{YHYE8sM?qGf&{fzwFRQ>e);)48?#G;9n!2rrU3*!I)

delta 50
zcmX@Wc!rTXpO=@5fq{YH?t;LH+`-Zj`WgATsru>p#Rd5(iADO!`8mn?dGTebd1VuG
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diff --git a/python/ur_simple_control/basics/__pycache__/basics.cpython-310.pyc b/python/ur_simple_control/basics/__pycache__/basics.cpython-310.pyc
index ecf89b920431584195c255ccc99637ca09fd2338..5f7577feb229658126fc67c97c41fdf918babaf5 100644
GIT binary patch
delta 41
wcmX?MzQ>$9pO=@5fq{YHT1~`8ZbxQ*Fa3=C+*JMa{NjTAl*FRV>CA}|0Qdh4kN^Mx

delta 53
zcmdmEe!`qPpO=@5fq{YH?t;LL+>XrBVfq>QxvBc;`NakKDTzh;$@w|S`FZhWsd;6a
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diff --git a/python/ur_simple_control/clik/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/clik/__pycache__/__init__.cpython-310.pyc
index c14ed132923a1fd4fe37a2eea6179541d994dc02..f748900fdc31bc412b0a999b4fb3db642fcc1623 100644
GIT binary patch
delta 40
vcmX@XxQCH9pO=@5fq{YHT1`Z{$wXd%elPuu{M=Oi^!(z2{FKC^iRFO+-xmyV

delta 52
zcmdnPc!H5PpO=@5fq{YH?t;K{k%_$i(qZ};`MIh3>G{P4`6-D-`pNk@$@zKlWvO{(
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diff --git a/python/ur_simple_control/dmp/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/dmp/__pycache__/__init__.cpython-310.pyc
index 8f623ffcc78243df2a5ee3e73e7c0e561efecc48..4d1c492319ff89555b519330a66a376c7ea6107e 100644
GIT binary patch
delta 38
tcmX@cxQmfHpO=@5fq{YHYE8sM?f`yI{fzwFRQ>e);)48?#G;910RYGa3(Eii

delta 50
zcmdnRc#M%dpO=@5fq{YH?t;LH+yT;|`WgATsru>p#Rd5(iADO!`8mn?dGTebd1Vu`
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diff --git a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-310.pyc b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-310.pyc
index e81144824ae642b3e14a08a19d1224855ba643bb..0e29756c453906783f2ec862504e575fe0d94cd1 100644
GIT binary patch
delta 45
zcmaFuao>YGpO=@5fq{YHT1~`8?nBJ{F8UeyxvBc;`NakKDTzgs8Cirk|7I>w002t%
B4#@xj

delta 53
zcmccb@!EqspO=@5fq{YH?t;LL+=rN@1N1ZUb5r%x^NS1eQxc2xlk;<u^Yh}%QuE3-
J-(hZ6007~<6Bz&i

diff --git a/python/ur_simple_control/optimal_control/__init__.py b/python/ur_simple_control/optimal_control/__init__.py
index adbd050..1feaec8 100644
--- a/python/ur_simple_control/optimal_control/__init__.py
+++ b/python/ur_simple_control/optimal_control/__init__.py
@@ -1,10 +1,10 @@
 import importlib.util
-if importlib.util.find_spec('casadi'):
-    import pinocchio as pin
-    if int(pin.__version__[0]) < 3:
-        print("you need to have pinocchio version 3.0.0 or greater to use pinocchio.casadi!")
-        exit()
-    from .create_pinocchio_casadi_ocp import *
+#if importlib.util.find_spec('casadi'):
+#    import pinocchio as pin
+#    if int(pin.__version__[0]) < 3:
+#        print("you need to have pinocchio version 3.0.0 or greater to use pinocchio.casadi!")
+#        exit()
+#    from .create_pinocchio_casadi_ocp import *
 from .crocoddyl_mpc import *
 from .crocoddyl_optimal_control import *
 from .get_ocp_args import *
diff --git a/python/ur_simple_control/robot_descriptions/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/robot_descriptions/__pycache__/__init__.cpython-310.pyc
index 654427aae8dcbedf493f3a356f4a6e5732f76014..e15880dc900e8f8d54ed9375536c1ff25861b877 100644
GIT binary patch
delta 38
tcmX@exRsGRpO=@5fq{YHYE8sMZX5mx{fzwFRQ>e);)48?#G;8w@c_m63%39O

delta 50
zcmdnWc#x4hpO=@5fq{YH?t;LH+&0oF`WgATsru>p#Rd5(iADO!`8mn?dGTebd1VvB
F;sJJ(5VHUP

diff --git a/python/ur_simple_control/util/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/util/__pycache__/__init__.cpython-310.pyc
index 49efa1685621d359f4209efe2cdfd6fac8a86bfa..68f9f19de45ab20cab0014a1af94d8390b3013f7 100644
GIT binary patch
delta 38
tcmdnYxSWwYpO=@5fq{YHYE8sMZX13t{fzwFRQ>e);)48?#G;8wfdIhb3x5Cr

delta 50
zcmZ3^xS5eVpO=@5fq{YH?t;LH+&0o-`WgATsru>p#Rd5(iADO!`8mn?dGTebd1VvB
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diff --git a/python/ur_simple_control/util/__pycache__/get_model.cpython-310.pyc b/python/ur_simple_control/util/__pycache__/get_model.cpython-310.pyc
index 7d915c240c73fce908dbaf592187296265279892..66be41a9466e86d1e63cc8c6d6de71f3dc0db74c 100644
GIT binary patch
delta 1106
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z3=GMjG!DbU3=9mM3=9k)zZ6fNz#GfRGWi{^EF;Ti9zH?F$=$*>lNa)fP1X{ZoBUZg
zdh#xD;mKzNJoSspKz=U=5fvb!5=2yih-wf~10o_oL@kJ@o1877Gx>p_2;-~CUj^ma
znYkFbn7EiHOADzpwr+M75@OOL(L8@{iOI7?gqTbjC$AT=Vr<|1O5_QXVgmyMgQjRv
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q+Cc<JrpRNmA+In$hfQvNN@-529U~~F6ee$wlwlX=aOCjju?GMkKncG9

delta 342
zcmca+ebJaNpO=@5fq{YHSypiRGN*}rGK^&twaZwUf*CXgHm(z8mk!s@$j?pHPtPwd
z$WKWu(ofFMNzTuUFH6lU+kA<AE$ie%LRpN=lXZn<8JRbG3kxz%&f#wnE)rm1U?>t~
zU|`UcFY*Gh<u+>z@G(v{5DlI@Q*iO*Tp5kY_e4c_S1>Rz6uU4mFz_*PuuR@2p*>kk
zOpLK%v!j?0)8tN3Ie}V`<_Hi`2O{bxH%e$Ry=R!bR>F$0X>vZV>}FQU<4lT0Age@+
zia}~hKtw5sC<77YAfjUOTWNi^DiE`JvXYEBrn#9iPK<h!*T}@P^?=M0nk*=r&D{Xf
q&;%lSCilpyDakP~Ft9LiuyHVgAP<;i;^N@taOKeC5aV#?u?GNs5>NyH

diff --git a/python/ur_simple_control/util/__pycache__/logging_utils.cpython-310.pyc b/python/ur_simple_control/util/__pycache__/logging_utils.cpython-310.pyc
index f3e4e64d35092a39fd51bda1a2b81e6f0f0f1341..2e37258da435a8748e38b6df86896ab68dbc2f6b 100644
GIT binary patch
delta 41
wcmbQP)UCvw&&$ijz`($8ttMh4cLWQ+zkWu3ZmNEIesMv5N@CIGI+mF{0OgkqWdHyG

delta 53
zcmeBHny$p1&&$ijz`($8cR}Dr?g$p?X#I@*+*JMa{NjTAl*A(a<oulE{Ji+G)V#9I
IMJzLU0HN;@U;qFB

diff --git a/python/ur_simple_control/visualize/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/visualize/__pycache__/__init__.cpython-310.pyc
index 66a8209bfd54f39391e1003fc8c1a3e7a66d382b..51d48f74c07792fe02bb0a151b6b46bcc253c927 100644
GIT binary patch
delta 38
tcmdnNxQ3BCpO=@5fq{YHYE8sMZX14o{fzwFRQ>e);)48?#G;8wVF1Fj3zGl<

delta 50
zcmZ3(xPy^9pO=@5fq{YH?t;LH+&0qD`WgATsru>p#Rd5(iADO!`8mn?dGTebd1VvB
F!T@p#5RU)=

diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-310.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-310.pyc
index 86c35e0c7f317e7d72788853f7280a7d2570a6c3..1ba8d819410731c72985bdc5203973f93569c258 100644
GIT binary patch
delta 459
zcmez8yuyVqpO=@5fq{YHT1`Z{g4;$uQzrfZ{fzwFRQ>e);)48?#G=h{Oocp*2PR+O
zixZs8$xy?(fNdc|ElUlH3qx$zWP5&d#=Obp{D+Kc*i(eEnTqz;uq_Zu5v*ZJ5t3wB
z$i&D{Xj-Vx!cZbyd7qI11Z$YH*o)4Uu%-x44i?a46q#Hr@QCLYS6WeGZfbl%VoAp2
zctLAMk;$_KS8?6qNlZy`1IbKw6pCXEn7ly9UW|iLfQhMr=_!va8zToJAEO8()1RV_
z%^!uHFmiV>FfbHBh{+E`L{RwuMM4?7HiwFOGcuM<UMQx{SULHmn5I+%0|Ub?=7Q3a
zB2SQJUl1V+B0MGwiVHK=PF4_?XKbD9Ag;jJHaSt;hw;Ybb>i8K3pYziykli7n#?KZ
z!Z=~FpPVn-Qjo4?lNZXJVO%~rPhO01=Hym+KkinL@GKB9d-6Sbf5ugl^%RuFR)PeC
zL3VTH<fjMZ<d>AB7FkYCS14!PHu=87R+Skb1?3<@1VosCh;$Iq0U{QHh;5U1C^|Fi
H^CSWQ6;6Uq

delta 448
zcmZ4C^3RzspO=@5fq{YH?t;MdM%RsercBZ?`WgATsru>p#Rd5(iADO!`8mn?dGTeb
zd1ae}m<o9qS4=*_7bn=x$xy?(fNdc|ElUlH3qx$(WMh7F#-z#F{D-6pO$+r|7)pdH
zFEcWLU=4E?d(oj1))b-1@dBER!jn4%9x+u}Oui=|K6!$m5~J|s&4Q~YXA4C!`b<71
zWG}?j!1RJgij9$jk&jV?k?BuS+h%FuCyZJh3=9lK2qJ@lfgwbb@fJ&dL28~R3zAI7
zWKGdf#*WSPqTY;*rISyKsWVng{w$`+SU*`-TvnhGWKI=`s0I-=lfA^{8Jj0(i7PO+
zOzsx<VZ1u|hIlsP{LL;B?^qf0CmYMTF!oKZkn?3*3{t;j@@cs<5=%kMFa`#OTim$?
zIq}K)d3mYHB}LOGub21ZZU#xt01-1Mb13*Tu9zI5pe(i=Bp?jZ!j+Ss9*~n?Qj%I^
tHhH2#IpdbeoQhjjrhyccfd~;0VFDu3K|~vfm=7YhOn#*3%&fzc2mlBSfEfS)

-- 
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