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Commit 76baa62c authored by Christian Dreher's avatar Christian Dreher
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fix: Transfer gaze targets to a dedicated gaze root frame (relative to head...

fix: Transfer gaze targets to a dedicated gaze root frame (relative to head base frame); Normalize calculation of pitch depending on selected yaw.

The issue here was that the calibration using the quadratic regression worked okay for yaw=0. However, as soon as there is a small tilt of the head base frame (i.e., the robot root frame and the head root frame where not parallel as in ARMAR-6), this calculation failed and resulted in a sinuidal movement of the head when the platform was rotated.
To fix this, the gaze targets are now transformed to a gaze root frame which in turn is relative to the head frame. Additionally, the target yaw is compensated before calculating the pitch.
parent 0063153e
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