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Update angular velocity gain

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Michel Breyer 2021-11-10 16:38:59 +01:00
parent 406c53b309
commit e521ec4b0f
1 changed files with 1 additions and 1 deletions
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src/active_grasp/controller.py
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@ -131,7 +131,7 @@ class GraspController:
scale = np.linalg.norm(linear) + 1e-6 scale = np.linalg.norm(linear) + 1e-6
linear *= np.clip(scale, 0.0, self.linear_vel) / scale linear *= np.clip(scale, 0.0, self.linear_vel) / scale
angular = self.view_sphere.get_view(theta, phi).rotation * x.rotation.inv() 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] return np.r_[linear, angular]
def execute_grasp(self, grasp): def execute_grasp(self, grasp):