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openarms mini swap joints 6 and 7

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This commit is contained in:
Pepijn
2025-12-31 15:08:06 +01:00
parent 0514616c87
commit 1771da222b
1 changed files with 23 additions and 11 deletions
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src/lerobot/teleoperators/openarms_mini/openarms_mini.py
+23 -11
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@@ -296,22 +296,27 @@ class OpenArmsMini(Teleoperator):
right_motors_to_flip = ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5"]
left_motors_to_flip = ["joint_1", "joint_3", "joint_4", "joint_5", "joint_6", "joint_7"]
# Joint mapping: teleop joint -> robot joint (swap 6 and 7)
joint_map = {"joint_6": "joint_7", "joint_7": "joint_6"}
# Read positions from both arms
right_positions = self.bus_right.sync_read("Present_Position")
left_positions = self.bus_left.sync_read("Present_Position")
# Combine into single action dict with arm prefixes and flip specified motors
# Combine into single action dict with arm prefixes, flip and map joints
action = {}
for motor, val in right_positions.items():
robot_joint = joint_map.get(motor, motor)
if motor in right_motors_to_flip:
action[f"right_{motor}.pos"] = -val
action[f"right_{robot_joint}.pos"] = -val
else:
action[f"right_{motor}.pos"] = val
action[f"right_{robot_joint}.pos"] = val
for motor, val in left_positions.items():
robot_joint = joint_map.get(motor, motor)
if motor in left_motors_to_flip:
action[f"left_{motor}.pos"] = -val
action[f"left_{robot_joint}.pos"] = -val
else:
action[f"left_{motor}.pos"] = val
action[f"left_{robot_joint}.pos"] = val
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read action: {dt_ms:.1f}ms")
@@ -328,6 +333,9 @@ class OpenArmsMini(Teleoperator):
right_motors_to_flip = ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5"]
left_motors_to_flip = ["joint_1", "joint_3", "joint_4", "joint_5", "joint_6", "joint_7"]
# Joint mapping: robot joint -> teleop joint (swap 6 and 7)
joint_map = {"joint_6": "joint_7", "joint_7": "joint_6"}
# Split feedback by arm and flip motors as needed
right_positions = {}
left_positions = {}
@@ -337,16 +345,20 @@ class OpenArmsMini(Teleoperator):
motor_name = key.removesuffix(".pos")
if motor_name.startswith("right_"):
base_name = motor_name.removeprefix("right_")
if base_name in right_motors_to_flip:
right_positions[base_name] = -val
# Apply joint mapping (swap 6↔7)
teleop_joint = joint_map.get(base_name, base_name)
if teleop_joint in right_motors_to_flip:
right_positions[teleop_joint] = -val
else:
right_positions[base_name] = val
right_positions[teleop_joint] = val
elif motor_name.startswith("left_"):
base_name = motor_name.removeprefix("left_")
if base_name in left_motors_to_flip:
left_positions[base_name] = -val
# Apply joint mapping (swap 6↔7)
teleop_joint = joint_map.get(base_name, base_name)
if teleop_joint in left_motors_to_flip:
left_positions[teleop_joint] = -val
else:
left_positions[base_name] = val
left_positions[teleop_joint] = val
# Write positions to both arms
if right_positions: