crystal-technologies
/

CRYSTAL-R1

Model card Files Files and versions Community

crystal-technologies commited on Nov 8, 2023

Commit

7898742

·

1 Parent(s): fe568fe

Update robot.py

Files changed (1) hide show

robot.py +1 -1

robot.py CHANGED Viewed

@@ -63,7 +63,7 @@ def grab():
     elbow = angle_B-elbow_origin*2.1
     wrist = angle_C - 90
-    shoulder_displacement = 90-(180-(90-servo_angle))
     shoulder = ((angle_A + shoulder_displacement)-shoulder_origin)*2.1

     elbow = angle_B-elbow_origin*2.1
     wrist = angle_C - 90
+    shoulder_displacement = 90-(180-angle_D-(90-servo_angle))
     shoulder = ((angle_A + shoulder_displacement)-shoulder_origin)*2.1