INSTRM-2909: fix dead theta margin code in moveToPfsDesign#23
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INSTRM-2909: fix dead theta margin code in moveToPfsDesign#23
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The previous margin adjustment (`thetas[thetas < 0.1] += 2π`) was applied to `thetas` after `filteredThetas` had already been sliced as a numpy copy, so it had no effect on the actual convergence call. Replace with a per-cobra optimal margin applied directly to `filteredThetas`: optMargin = (thetaRange - 2π) / 2 Any filtered theta target below optMargin (i.e. near the CW hard stop, local ~0°) is bumped by 2π to its equivalent position near the CCW hard stop (~365°). This avoids a ~376° CW travel from the park position and keeps cobras safely away from both hard stops. The per-cobra value is tighter than the flat 15° previously used and is guaranteed to stay within [0, thetaRange] for every cobra (good cobra minimum thetaRange is ~373°, optMargin minimum is ~6.6°).
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The previous margin adjustment (
thetas[thetas < 0.1] += 2π) was applied tothetasafterfilteredThetashad already been sliced as a numpy copy, so it had no effect on the actual convergence call.Replace with a per-cobra optimal margin applied directly to
filteredThetas:optMargin = (thetaRange - 2π) / 2
Any filtered theta target below optMargin (i.e. near the CW hard stop, local ~0°) is bumped by 2π to its equivalent position near the CCW hard stop (~365°). This avoids a ~376° CW travel from the park position and keeps cobras safely away from both hard stops.
The per-cobra value is tighter than the flat 15° previously used and is guaranteed to stay within [0, thetaRange] for every cobra (good cobra minimum thetaRange is ~373°, optMargin minimum is ~6.6°).