From d76ceeab21c3db775b56b96d4e87e103c099a02b Mon Sep 17 00:00:00 2001 From: "Christopher E. Mower" Date: Wed, 1 Mar 2023 14:22:19 +0000 Subject: [PATCH] Don't use deprecated optas methods --- lbr_examples/scripts/admittance_control_node.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/lbr_examples/scripts/admittance_control_node.py b/lbr_examples/scripts/admittance_control_node.py index 5775b0ea..3d382922 100755 --- a/lbr_examples/scripts/admittance_control_node.py +++ b/lbr_examples/scripts/admittance_control_node.py @@ -23,10 +23,11 @@ def __init__( dx_gain: np.ndarray = np.array([1.0, 1.0, 1.0, 20.0, 40.0, 60.0]), smooth: float = 0.02, ) -> None: - robot = optas.RobotModel(urdf_string=urdf_string) - J = robot.get_geometric_jacobian_function(end_link_name, root_link_name) - self.jacobian = lambda q: J(q).toarray() # toarray: convert casadi.DM -> numpy.ndarray + J = robot.get_global_link_geometric_jacobian_function(end_link_name) + self.jacobian = lambda q: J( + q + ).toarray() # toarray: convert casadi.DM -> numpy.ndarray self.f_threshold_ = f_threshold self.dq_gain_ = np.diag(dq_gain)