robossembler/gello_software
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Bugfixes.

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This commit is contained in:
Kevin Zakka 2024-04-04 16:27:32 -07:00
parent e6a660da6d
commit 7001842e7a
7 changed files with 18 additions and 17 deletions
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6
gello/robots/dynamixel.py
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@ -86,11 +86,11 @@ class DynamixelRobot(Robot):
if gripper_config is not None:
current_joints = current_joints[:-1]
start_joints = start_joints[:-1]
for c_joint, s_joint, joint_offset in zip(
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))
np.pi * 2 * np.round((-s_joint + c_joint) / (2 * np.pi)) * self._joint_signs[idx]
+ joint_offset
)
if gripper_config is not None: