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This commit is contained in:
Philipp Wu 2024-04-04 16:41:57 -07:00
parent abd53a4c2b
commit 16e09073bf
5 changed files with 15 additions and 9 deletions
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11
gello/robots/dynamixel.py
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@ -86,11 +86,14 @@ class DynamixelRobot(Robot):
if gripper_config is not None:
current_joints = current_joints[:-1]
start_joints = start_joints[:-1]
for idx, (c_joint, s_joint, joint_offset) in enumerate(zip(
current_joints, start_joints, self._joint_offsets
)):
for idx, (c_joint, s_joint, joint_offset) in enumerate(
zip(current_joints, start_joints, self._joint_offsets)
):
new_joint_offsets.append(
np.pi * 2 * np.round((-s_joint + c_joint) / (2 * np.pi)) * self._joint_signs[idx]
np.pi
* 2
* np.round((-s_joint + c_joint) / (2 * np.pi))
* self._joint_signs[idx]
+ joint_offset
)
if gripper_config is not None: