🐍 Restricts angular movement

2024-07-17 23:49:49 +02:00
parent 080c18cf19
commit f76d57f331
1 changed files with 3 additions and 2 deletions
@@ -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);