big gello

wuphilipp · Dec 18, 2024 · bb5eaaf · bb5eaaf
1 parent a14465a
commit bb5eaaf
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Showing 2 changed files with 12 additions and 10 deletions.
diff --git a/gello/agents/gello_agent.py b/gello/agents/gello_agent.py
@@ -50,17 +50,19 @@ def make_robot(self,
     "/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, 6*np.pi/4, -1*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,
+                6 * 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(

diff --git a/scripts/gello_get_offset.py b/scripts/gello_get_offset.py
@@ -65,7 +65,7 @@ def get_error(offset: float, index: int, joint_state: np.ndarray) -> float:
             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_error(offset: float, index: int, joint_state: np.ndarray) -> float:
         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: