From 3786f86f671004cca51e1497c3fb1f3f67ad0724 Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Fri, 12 Mar 2021 18:20:52 +0100 Subject: [PATCH] Minor --- controllers.py | 4 ++-- run_demo.py | 2 -- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/controllers.py b/controllers.py index c25b328..7202433 100644 --- a/controllers.py +++ b/controllers.py @@ -7,8 +7,8 @@ class CartesianPoseController: self.x_d = x0 self.kp = np.ones(6) * 5.0 - def set_target(self, x_d): - self.x_d = x_d + def set_target(self, pose): + self.x_d = pose def update(self, q, dq): x = self.model.pose(q) diff --git a/run_demo.py b/run_demo.py index bbdd0b4..10510e1 100644 --- a/run_demo.py +++ b/run_demo.py @@ -6,7 +6,6 @@ from robot_sim import * from utils import * -# parameters gui = True dt = 1.0 / 60.0 @@ -22,7 +21,6 @@ controller = CartesianPoseController(model, x0) marker = InteractiveMarkerWrapper("target", "panda_link0", x0) -# run the control loop while True: controller.set_target(marker.pose) q, dq = env.arm.get_state()