From a14465a6ac0449bcf7db5df339752ce5e5dc4069 Mon Sep 17 00:00:00 2001 From: YuweiXia Date: Tue, 29 Oct 2024 16:55:03 -0700 Subject: [PATCH] update js offset --- gello/agents/gello_agent.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gello/agents/gello_agent.py b/gello/agents/gello_agent.py index 717251b..0cc7e42 100644 --- a/gello/agents/gello_agent.py +++ b/gello/agents/gello_agent.py @@ -52,14 +52,14 @@ PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = { joint_ids=(1, 2, 3, 4, 5, 6, 7), 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, - 1 * np.pi / 2, - 1 * np.pi / 2, - 1 * np.pi / 2, + 2 * np.pi / 2, ), - joint_signs=(1, 1, 1, 1, 1, 1, 1), + joint_signs=(1, -1, 1, 1, 1, 1, 1), gripper_config=(8, 115.024609375, 73.224609375), ), # panda