From 45fc32d870bee639756384d84bef84ab27a9d390 Mon Sep 17 00:00:00 2001
From: Falk Balduf <falk.balduf@student.kit.edu>
Date: Fri, 14 Feb 2025 11:02:42 +0100
Subject: [PATCH] Uncommited changes on a7 planning pc found during demo
testing
---
armarx_control/run/ts_mp_imp_forward_backward_with_traj.py | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/armarx_control/run/ts_mp_imp_forward_backward_with_traj.py b/armarx_control/run/ts_mp_imp_forward_backward_with_traj.py
index d5347b83..79e10b8d 100644
--- a/armarx_control/run/ts_mp_imp_forward_backward_with_traj.py
+++ b/armarx_control/run/ts_mp_imp_forward_backward_with_traj.py
@@ -99,7 +99,8 @@ def get_mp_config(
mp_cfg = MPListConfig()
pkg_path = get_armarx_package_data_dir("armarx_control")
- ts_traj = pkg_path / "common_motions/testing" / f"{traj_file_stem}-ts-{dir_str}.csv"
+ path_root = "kinesthetic_teaching"
+ ts_traj = pkg_path / path_root / f"{traj_file_stem}-ts-{dir_str}.csv"
mp_cfg.mp_list.append(get_default_mp_cfg(
mp_type=MPType.taskspace, duration_sec=np.float64(time_sec),
name="taskspace", node_set_name=nodeset.value,
@@ -107,7 +108,7 @@ def get_mp_config(
))
if nullspace:
- js_traj = pkg_path / "common_motions/testing" / f"{traj_file_stem}-js-{dir_str}.csv"
+ js_traj = pkg_path / path_root / f"{traj_file_stem}-js-{dir_str}.csv"
mp_cfg.mp_list.append(get_default_mp_cfg(
mp_type=MPType.nullspace, duration_sec=np.float64(time_sec),
name="nullspace", node_set_name=nodeset.value,
--
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