now running smooth

micahpearlman · micahpearlman · commit 16e10f44db5a · 2021-04-07T17:32:58.000-07:00
diff --git a/Runtime/Scripts/ROS/Unity/Controllers/ZOArmController.cs b/Runtime/Scripts/ROS/Unity/Controllers/ZOArmController.cs
@@ -386,7 +386,7 @@ protected double[] GetJointPositionsAtTimeSeconds(JointTrajectoryPointMessage[]
                             for (int p = 0; p < numPositions; p++) {
                                 double aJointPosition = points[i - 1].positions[p];
                                 double bJointPosition = points[i].positions[p];
-                                interpolatedJointPositions[p] = Mathf.LerpAngle((float)aJointPosition * Mathf.Rad2Deg, (float)bJointPosition * Mathf.Deg2Rad, (float)t) * Mathf.Deg2Rad;
+                                interpolatedJointPositions[p] = Mathf.Lerp((float)aJointPosition, (float)bJointPosition, (float)t);
                             }
 
                             return interpolatedJointPositions;

Original file line number	Diff line number	Diff line change
`@@ -386,7 +386,7 @@ protected double[] GetJointPositionsAtTimeSeconds(JointTrajectoryPointMessage[]`
`386`	`386`	`for (int p = 0; p < numPositions; p++) {`
`387`	`387`	`double aJointPosition = points[i - 1].positions[p];`
`388`	`388`	`double bJointPosition = points[i].positions[p];`
`389`		`- interpolatedJointPositions[p] = Mathf.LerpAngle((float)aJointPosition * Mathf.Rad2Deg, (float)bJointPosition * Mathf.Deg2Rad, (float)t) * Mathf.Deg2Rad;`
	`389`	`+ interpolatedJointPositions[p] = Mathf.Lerp((float)aJointPosition, (float)bJointPosition, (float)t);`
`390`	`390`	`}`
`391`	`391`
`392`	`392`	`return interpolatedJointPositions;`