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fix grippers

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This commit is contained in:
Pepijn
2026-01-01 16:40:53 +01:00
parent dfd229ae4f
commit 03c6ee5f9a
1 changed files with 9 additions and 1 deletions
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examples/rac/rac_data_collection_openarms.py
+9 -1
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@@ -273,8 +273,12 @@ def rac_rollout_loop(
obs_frame = build_dataset_frame(dataset.features, obs_filtered, prefix=OBS_STR) obs_frame = build_dataset_frame(dataset.features, obs_filtered, prefix=OBS_STR)
if events["correction_active"]: if events["correction_active"]:
# Human controlling - record correction data with soft gains # Human controlling - record correction data
robot_action = teleop.get_action() robot_action = teleop.get_action()
# Convert gripper from teleop range (0-100) to robot degrees (-65 to 0)
for key in robot_action:
if "gripper" in key:
robot_action[key] = -0.65 * robot_action[key]
robot.send_action(robot_action) robot.send_action(robot_action)
stats["correction_frames"] += 1 stats["correction_frames"] += 1
@@ -345,6 +349,10 @@ def reset_loop(
loop_start = time.perf_counter() loop_start = time.perf_counter()
action = teleop.get_action() action = teleop.get_action()
# Convert gripper from teleop range (0-100) to robot degrees (-65 to 0)
for key in action:
if "gripper" in key:
action[key] = -0.65 * action[key]
robot.send_action(action) robot.send_action(action)
dt = time.perf_counter() - loop_start dt = time.perf_counter() - loop_start