robossembler/gello_software
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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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4
scripts/gello_get_offset.py
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@ -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: