From 2379c3607a562fd43b9d08a753f00a03f1f745d2 Mon Sep 17 00:00:00 2001 From: glannuzel Date: Mon, 11 Aug 2025 10:13:08 +0200 Subject: [PATCH] Open gripper on start --- src/lerobot/robots/reachy2/test_replay.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/lerobot/robots/reachy2/test_replay.py b/src/lerobot/robots/reachy2/test_replay.py index c8d1951fe..6bcb3249b 100644 --- a/src/lerobot/robots/reachy2/test_replay.py +++ b/src/lerobot/robots/reachy2/test_replay.py @@ -44,6 +44,8 @@ l_arm_goal = [action["l_shoulder_pitch.pos"], robot.reachy.head.goto(neck_goal) robot.reachy.r_arm.goto(r_arm_goal) +robot.reachy.r_arm.gripper.goto(100.0, percentage=True) +robot.reachy.l_arm.gripper.goto(100.0, percentage=True) robot.reachy.l_arm.goto(l_arm_goal, wait=True) for idx in range(dataset.num_frames):