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add improv openarm mini

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This commit is contained in:
croissant
2025-11-21 16:22:27 +01:00
committed by Michel Aractingi
parent 14319ee608
commit 19fe69dac0
4 changed files with 53 additions and 57 deletions
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examples/openarms/teleop_openarms_mini.py
+2 -19
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@@ -39,8 +39,8 @@ follower_config = OpenArmsFollowerConfig(
# Configure the OpenArms Mini leader (Feetech motors on serial)
leader_config = OpenArmsMiniConfig(
port_right="/dev/ttyACM1", # Serial port for right arm
port_left="/dev/ttyACM0", # Serial port for left arm
port_right="/dev/ttyACM0", # Serial port for right arm
port_left="/dev/ttyACM1", # Serial port for left arm
id="openarms_mini",
use_degrees=True,
)
@@ -94,20 +94,6 @@ max_loop_time = 0.0
stats_update_interval = 1.0 # Update stats every 1 second
last_stats_update = time.perf_counter()
JOINT_DIRECTION = {
# invert direction
"right_joint_1": -1,
"right_joint_2": -1,
"right_joint_3": -1,
"right_joint_4": -1,
"right_joint_5": -1,
"left_joint_1": -1,
"left_joint_3": -1,
"left_joint_4": -1,
"left_joint_5": -1,
"left_joint_6": -1,
"left_joint_7": -1,
}
SWAPPED_JOINTS = {
"right_joint_6": "right_joint_7",
@@ -140,9 +126,6 @@ try:
# Map 0-100 (Mini) to 0 to -65 (OpenArms)
# 0 (closed) -> 0°, 100 (open) -> -65°
pos = (pos / 100.0) * -65.0
else:
# Apply direction reversal if specified (non-gripper joints only)
pos *= JOINT_DIRECTION.get(joint, 1)
# Store in action dict for follower
joint_action[follower_key] = pos