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Open gripper on start

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glannuzel
2025-08-11 10:13:08 +02:00
parent 146403afc1
commit 2379c3607a
1 changed files with 2 additions and 0 deletions
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src/lerobot/robots/reachy2/test_replay.py
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@@ -44,6 +44,8 @@ l_arm_goal = [action["l_shoulder_pitch.pos"],
robot.reachy.head.goto(neck_goal) robot.reachy.head.goto(neck_goal)
robot.reachy.r_arm.goto(r_arm_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) robot.reachy.l_arm.goto(l_arm_goal, wait=True)
for idx in range(dataset.num_frames): for idx in range(dataset.num_frames):