Set angles in range -180,180 #22
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
|
||
| private float ChangeAngleRange(float orbita_angle) | ||
| { | ||
| float modified_angle = orbita_angle % (Mathf.Deg2Rad*360); |
There was a problem hiding this comment.
I am not sure about this
| { | ||
| containNeckCommand = true; | ||
| headOrientation[2] = kvp.Value; | ||
| headOrientation[2] = -kvp.Value; |
There was a problem hiding this comment.
There is a minus for neck_yaw in jointserviceserver and also here. We should remove both?
There was a problem hiding this comment.
No, we want to keep both:
- the first one is the value returned for the joint when using GetJointState, which needs a minus to be consistent with the value returned by a real robot
- the second one is the value used to update the head rotation in the scene, which needs to be opposite to the previous one so that the head rotation in the simu is consistent with the operator head movement
FabienDanieau
approved these changes
May 2, 2023
FabienDanieau
deleted the
21-range-of-neck-angles-different-from-real-robot
branch
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.