From 2f20aa60400a17671cd51d527c9d47d51cbbd78f Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 21 Nov 2023 00:27:16 +0100
Subject: [PATCH] pretty sure i just fixed my problem
---
python/ur_simple_control/basics/basics.py | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/python/ur_simple_control/basics/basics.py b/python/ur_simple_control/basics/basics.py
index 25985b2..20189ab 100644
--- a/python/ur_simple_control/basics/basics.py
+++ b/python/ur_simple_control/basics/basics.py
@@ -25,7 +25,9 @@ def moveJControlLoop(q_desired, robot, i, past_data):
q = q[:6]
q_error = q_desired - q
- if np.linalg.norm(q_error) < 1e-4:
+ # STOP MUCH BEFORE YOU NEED TO
+ # EVEN THIS MIGHT BE TOO MUCH
+ if np.linalg.norm(q_error) < 1e-1:
breakFlag = True
# stupid hack, for the love of god remove this
# but it should be small enough lel
--
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