Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Velocity scale applied twice to limit #251

Open
scharalambous-sony opened this issue May 3, 2024 · 1 comment
Open

Velocity scale applied twice to limit #251

scharalambous-sony opened this issue May 3, 2024 · 1 comment
Assignees
@balakumar-s

Comments

@scharalambous-sony
Copy link
Contributor

scharalambous-sony commented May 3, 2024 •
edited
Loading

  1. cuRobo installation mode: python
  2. python version: 3.10.12

Hi,
Are velocity_scale/acceleration_scale/jerk_scale redundant with the corresponding ones in MotionGenConfig? If yes, what's the recommended way to apply a scale to the vel/acc/jerk limits?
I am facing a bug where the velocity_scale is applied twice reducing the velocity limits by a factor of (velocity_scale)^2
@scharalambous-sony scharalambous-sony closed this as not planned Won't fix, can't repro, duplicate, stale May 6, 2024
@scharalambous-sony
Copy link
Contributor Author

This is indeed an issue. I have included a unit test that replicates that in #253

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@balakumar-s balakumar-s

Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@balakumar-s @scharalambous-sony