From 8cda2b4c2a42125900dd22b43587eb7cf81565a6 Mon Sep 17 00:00:00 2001
From: shenchenyang <664376944@qq.com>
Date: Tue, 10 Mar 2026 14:04:26 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9x=E8=BD=B4=E9=99=90=E4=BD=8D?=
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---
 .../openarm_servo_control/ik_controller.py                      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/openarm_servo_control/openarm_servo_control/ik_controller.py b/src/openarm_servo_control/openarm_servo_control/ik_controller.py
index 7d21d26..de25d65 100644
--- a/src/openarm_servo_control/openarm_servo_control/ik_controller.py
+++ b/src/openarm_servo_control/openarm_servo_control/ik_controller.py
@@ -292,7 +292,7 @@ class ArucoIKController(Node):
         self.prev_filtered_pos = curr_pos
         self.prev_filtered_quat = curr_quat
 
-        curr_pos[0] = np.clip(curr_pos[0], 0, 0.8)
+        curr_pos[0] = np.clip(curr_pos[0], -0.8, 0.8)
         curr_pos[1] = np.clip(curr_pos[1], -0.2, 0.2) + 0.15
         curr_pos[2] = np.clip(curr_pos[2], 0.0, 0.3) + 0.27
         # pose.pose.position.x = 0.1