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Pepijn
2026-01-01 16:49:04 +01:00
parent 03c6ee5f9a
commit 640a7889fc
1 changed files with 8 additions and 4 deletions
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src/lerobot/teleoperators/openarms_mini/openarms_mini.py
+8 -4
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@@ -346,14 +346,16 @@ class OpenArmsMini(Teleoperator):
if motor_name.startswith("right_"): if motor_name.startswith("right_"):
base_name = motor_name.removeprefix("right_") base_name = motor_name.removeprefix("right_")
target_motor = joint_remap.get(base_name, base_name) target_motor = joint_remap.get(base_name, base_name)
if base_name in right_motors_to_flip: # Check flip on target_motor (leader joint) to match get_action() logic
if target_motor in right_motors_to_flip:
right_positions[target_motor] = -val right_positions[target_motor] = -val
else: else:
right_positions[target_motor] = val right_positions[target_motor] = val
elif motor_name.startswith("left_"): elif motor_name.startswith("left_"):
base_name = motor_name.removeprefix("left_") base_name = motor_name.removeprefix("left_")
target_motor = joint_remap.get(base_name, base_name) target_motor = joint_remap.get(base_name, base_name)
if base_name in left_motors_to_flip: # Check flip on target_motor (leader joint) to match get_action() logic
if target_motor in left_motors_to_flip:
left_positions[target_motor] = -val left_positions[target_motor] = -val
else: else:
left_positions[target_motor] = val left_positions[target_motor] = val
@@ -408,14 +410,16 @@ class OpenArmsMini(Teleoperator):
if motor_name.startswith("right_"): if motor_name.startswith("right_"):
base_name = motor_name.removeprefix("right_") base_name = motor_name.removeprefix("right_")
target_motor = joint_remap.get(base_name, base_name) target_motor = joint_remap.get(base_name, base_name)
if base_name in right_motors_to_flip: # Check flip on target_motor (leader joint) to match get_action() logic
if target_motor in right_motors_to_flip:
target_parsed[f"right_{target_motor}"] = -val target_parsed[f"right_{target_motor}"] = -val
else: else:
target_parsed[f"right_{target_motor}"] = val target_parsed[f"right_{target_motor}"] = val
elif motor_name.startswith("left_"): elif motor_name.startswith("left_"):
base_name = motor_name.removeprefix("left_") base_name = motor_name.removeprefix("left_")
target_motor = joint_remap.get(base_name, base_name) target_motor = joint_remap.get(base_name, base_name)
if base_name in left_motors_to_flip: # Check flip on target_motor (leader joint) to match get_action() logic
if target_motor in left_motors_to_flip:
target_parsed[f"left_{target_motor}"] = -val target_parsed[f"left_{target_motor}"] = -val
else: else:
target_parsed[f"left_{target_motor}"] = val target_parsed[f"left_{target_motor}"] = val