# Phil 9.18.20

Get deposit!

Opened a ticket for VPN access issues

Book

• Scanned notes
• Playing interview into Google Docs, where it is doing a reasonable job of transcription!
• Meeting with Michelle. Went over the text a bit and decided to skip next week

GPT-2 Agents

• Progress as of this morning:

GOES

• Continue on incremental rotations. Here’s the reference and vehicle both using absolute angles
• Now, here’s the reference using incremental and the vehicle using absolute
• This is why we need to calculate the plane of rotation each time of we’re using incremental rotations.
• Thinking about this some more. I can check to see which vector sweeps out the largest arc and use the cross product for the vector to rotate all the objects in the frame.
• 10:00 meeting with Vadim. There’s an issue where the calculated angles loop from +180 to -180. Here’s the code I use to catch that. It’s dumb, but I can’t find better:
`def closest_angle(a1, a2) -> float:    diff = a1 - a2    if diff < 0:        while abs(diff) < 180:            diff += 360        return diff    while abs(diff) > 180:        diff -= 360    print("{} + {} = {}".format(a1, a2, diff))    return diff`