From 9655eca1a544d8029b7b246c094477d908c6226a Mon Sep 17 00:00:00 2001 From: hello-jackson Date: Tue, 27 Jun 2023 13:27:16 -0700 Subject: [PATCH] Revert "reduced acceptable_joint_error for head tilt" because it is unnecessary as dynamixel servos do not require a push_command() call --- stretch_core/nodes/command_groups.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/stretch_core/nodes/command_groups.py b/stretch_core/nodes/command_groups.py index 3cf1320..7e10838 100644 --- a/stretch_core/nodes/command_groups.py +++ b/stretch_core/nodes/command_groups.py @@ -58,7 +58,7 @@ class HeadPanCommandGroup(SimpleCommandGroup): class HeadTiltCommandGroup(SimpleCommandGroup): def __init__(self, range_rad=None, calibrated_offset_rad=None, calibrated_looking_up_offset_rad=None, backlash_transition_angle_rad=None, node=None): - SimpleCommandGroup.__init__(self, 'joint_head_tilt', range_rad, acceptable_joint_error=0.15, node=node) + SimpleCommandGroup.__init__(self, 'joint_head_tilt', range_rad, acceptable_joint_error=0.52, node=node) if calibrated_offset_rad is None: calibrated_offset_rad = node.controller_parameters['tilt_angle_offset'] self.calibrated_offset_rad = calibrated_offset_rad