John Hsu avatar John Hsu committed 67d6d98

fix error correction to gearbox

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Files changed (2)


                      + shortest_angular_distance(cumulative_angle2,ang2);
     double err = shortest_angular_distance(cumulative_angle1,
-      ratio * cumulative_angle2);
+      -ratio * cumulative_angle2);
     // printf("a1(%f) a2(%f) e(%f)\n", ang1, ang2, err);


-                <dt>0.001000</dt>
+                <dt>0.000100</dt>
         <joint name="joint_13" type="gearbox">
-            <gear_ratio>-0.01</gear_ratio>
+            <gear_ratio>-0.5</gear_ratio>
               <xyz>1.000000 0.000000 0.000000</xyz>
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