In effect, when the smallest eigenvalue of the arm Jacobian matrix is smaller than the lower sigma threshold, the base velocity is multiplied with a factor of 1., while arm velocity is set to 0. This is to prevent the unexpected behaviour of the base velocity being multiplied to a number greater than 1.
In effect, when the smallest eigenvalue of the arm Jacobian matrix is smaller than the lower sigma threshold, the base velocity is multiplied with a factor of 1., while arm velocity is set to 0. This is to prevent the unexpected behaviour of the base velocity being multiplied to a number greater than 1.