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修改x轴限位

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shenchenyang 2026-03-10 14:04:26 +08:00
parent 7443670841
commit 8cda2b4c2a
1 changed files with 1 additions and 1 deletions
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src/openarm_servo_control/openarm_servo_control/ik_controller.py
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@ -292,7 +292,7 @@ class ArucoIKController(Node):
self.prev_filtered_pos = curr_pos self.prev_filtered_pos = curr_pos
self.prev_filtered_quat = curr_quat 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[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 curr_pos[2] = np.clip(curr_pos[2], 0.0, 0.3) + 0.27
# pose.pose.position.x = 0.1 # pose.pose.position.x = 0.1