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bigprint
twins-controller
Commits
8f58c677
Commit
8f58c677
authored
Feb 09, 2021
by
Jayant Khatkar
Browse files
go slightly above the calibration point for safety (
#18
)
parent
417cad0c
Changes
1
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Inline
Side-by-side
src/KeyboardController.py
View file @
8f58c677
...
...
@@ -591,6 +591,7 @@ class KeyboardController(Controller):
if
priors
:
# calculate IK for next point and move there
mat
=
np
.
identity
(
4
)
p
[
3
]
+=
0.01
# go 1cm above bed for safety
mat
[:
3
,
3
]
=
p
mat
=
world2armT
.
dot
(
mat
).
dot
(
_vert_or
).
dot
(
tip2armT
)
q
=
Rotation
.
from_dcm
(
mat
[:
3
,:
3
]).
as_quat
()
...
...
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