Commit ·
15f55ad
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Parent(s): ba75f99
"chore:_remove_temp_file"
Browse files- commit_msg.txt +0 -15
commit_msg.txt
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fix: simplify body_yaw to match reference project exactly
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After thorough analysis of SDK and reference project:
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- SDK default automatic_body_yaw=True handles collision prevention
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- SDK's inverse_kinematics_safe auto-adjusts body_yaw (max 65° relative)
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- Reference project's BreathingMove always returns body_yaw=0.0
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Changed:
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- movement_manager.py: Pass body_yaw=0.0, let SDK handle automatically
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- Removed manual body_yaw calculation that may interfere with SDK
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- Updated docstrings to explain SDK's automatic mechanism
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This exactly matches how the reference project works:
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1. Pass body_yaw=0.0 to set_target()
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2. SDK's inverse_kinematics_safe auto-adjusts to prevent collision
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