Calculation of tool_rotation_angle in robot.py

[taeil7kim]

Hi, I found that the tool_rotation_angle is calculated in different ways for the simulation case and the real case in grasp() and push() functions of robot.py. In robot.py,

(simulation case) Line 601: tool_rotation_angle = (heightmap_rotation_angle % np.pi) - np.pi/2

(real case) Line 662: tool_rotation_angle = heightmap_rotation_angle/2

I can understand the line 601 that rotates the tool 90 degrees from the heightmap_rotation_angle . Could you explain why the heightmap_rotation_angle is divided by 2 in line 662?