From e521ec4b0f16d3d65bb9df3a6b37d5a959684453 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Wed, 10 Nov 2021 16:38:59 +0100
Subject: [PATCH] Update angular velocity gain

---
 src/active_grasp/controller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py
index 3fa7e44..e7ff25d 100644
--- a/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -131,7 +131,7 @@ class GraspController:
         scale = np.linalg.norm(linear) + 1e-6
         linear *= np.clip(scale, 0.0, self.linear_vel) / scale
         angular = self.view_sphere.get_view(theta, phi).rotation * x.rotation.inv()
-        angular = 0.5 * angular.as_rotvec()
+        angular = 1.0 * angular.as_rotvec()
         return np.r_[linear, angular]
 
     def execute_grasp(self, grasp):