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big gello

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This commit is contained in:
YuweiXia 2024-11-26 14:15:48 -08:00 • committed by Yuwei Xia
parent a14465a6ac
commit 69f2453e2d
2 changed files with 12 additions and 10 deletions
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18
gello/agents/gello_agent.py
View file

@ -50,17 +50,19 @@ PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = {
"/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT94VP8U-if00-port0":
DynamixelRobotConfig(
joint_ids=(1, 2, 3, 4, 5, 6, 7),
# 7*np.pi/4, 4*np.pi/4, 2*np.pi/4, 0*np.pi/4, 4*np.pi/4, 4*np.pi/4, 10*np.pi/4
# 3*np.pi/4, 4*np.pi/4, 14*np.pi/4, 0*np.pi/4, -4*np.pi/4, 4*np.pi/4, 2*np.pi/4
joint_offsets=(
1 * np.pi / 2,
3 * np.pi / 2,
2 * np.pi / 2,
1 * np.pi / 2,
1 * np.pi / 2,
1 * np.pi / 2,
2 * np.pi / 2,
3 * np.pi / 4,
4 * np.pi / 4,
14 * np.pi / 4,
0 * np.pi / 4,
-4 * np.pi / 4,
4 * np.pi / 4,
2 * np.pi / 4,
),
joint_signs=(1, -1, 1, 1, 1, 1, 1),
gripper_config=(8, 115.024609375, 73.224609375),
gripper_config=(8, 330.79609375, 288.99609375),
),
# panda
# "/dev/cu.usbserial-FT3M9NVB": DynamixelRobotConfig(

4
scripts/gello_get_offset.py
View file

@ -65,7 +65,7 @@ def get_config(args: Args) -> None:
best_offset = 0
best_error = 1e6
for offset in np.linspace(
-8 * np.pi, 8 * np.pi, 8 * 4 + 1
-8 * np.pi, 8 * np.pi, 8 * 8 + 1
): # intervals of pi/2
error = get_error(offset, i, curr_joints)
if error < best_error:
@ -76,7 +76,7 @@ def get_config(args: Args) -> None:
print("best offsets : ", [f"{x:.3f}" for x in best_offsets])
print(
"best offsets function of pi: ["
+ ", ".join([f"{int(np.round(x/(np.pi/2)))}*np.pi/2" for x in best_offsets])
+ ", ".join([f"{int(np.round(x/(np.pi/4)))}*np.pi/4" for x in best_offsets])
+ " ]",
)
if args.gripper: