hofee/gen_data_curobo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix terminal action, 10x more accurate pose reaching

Browse Source
This commit is contained in:
Balakumar Sundaralingam
2024-11-22 14:32:43 -08:00
parent 36ea382dab
commit 2fbffc3522
15 changed files with 198 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/curobo/curobolib/cpp/tensor_step_kernel.cu
View File

@@ -850,7 +850,7 @@ namespace Curobo
(1.333333333f) * g_acc[3] + (-0.083333333f) * g_acc[4]) * dt * dt +
// ( g_acc[3] + g_acc[1] - (2.0) * g_acc[2]) * dt * dt +
(0.5f * g_jerk[0] - g_jerk[1] + g_jerk[3] - 0.5f * g_jerk[4]) * dt * dt * dt);
(-0.5f * g_jerk[0] + g_jerk[1] - g_jerk[3] + 0.5f * g_jerk[4]) * dt * dt * dt);
}
else if (hid == horizon - 3)
{