From f76d57f3319f1c7699c6d99f8e2d0467c1fbb02a Mon Sep 17 00:00:00 2001 From: Rune Harlyk Date: Wed, 17 Jul 2024 23:49:49 +0200 Subject: [PATCH] =?UTF-8?q?=F0=9F=90=8D=20Restricts=20angular=20movement?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/src/lib/components/Visualization.svelte | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/app/src/lib/components/Visualization.svelte b/app/src/lib/components/Visualization.svelte index 8653106..ea89c8f 100644 --- a/app/src/lib/components/Visualization.svelte +++ b/app/src/lib/components/Visualization.svelte @@ -82,8 +82,8 @@ switch (get(mode)) { case ModesEnum.Stand: settings.omega = 0 - settings.phi = data.rx / 4 - settings.psi = data.ry / 4 + settings.phi = data.rx / 8 + settings.psi = data.ry / 8 settings.xm = data.ly / 2 settings.zm = data.lx / 2 break; @@ -223,6 +223,7 @@ const orient_robot = (robot: URDFRobot, toes:Vector3[]) => { if (settings['Robot transform controls'] || !settings['Auto orient robot']) return robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y)); + robot.position.z = lerp(robot.position.z, -settings.xm / 100, 0.1); robot.position.x = lerp(robot.position.x, -settings.zm / 100, 0.1);