From 90145426b4001aad1a13ea93bcb67df19cd938f1 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Fri, 2 Jan 2026 11:22:45 +0100 Subject: [PATCH] add gripper in send feedback --- .../teleoperators/openarms_mini/openarms_mini.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/lerobot/teleoperators/openarms_mini/openarms_mini.py b/src/lerobot/teleoperators/openarms_mini/openarms_mini.py index 5ffb9de4c..16e74c356 100644 --- a/src/lerobot/teleoperators/openarms_mini/openarms_mini.py +++ b/src/lerobot/teleoperators/openarms_mini/openarms_mini.py @@ -345,6 +345,9 @@ class OpenArmsMini(Teleoperator): motor_name = key.removesuffix(".pos") if motor_name.startswith("right_"): base_name = motor_name.removeprefix("right_") + # Convert gripper from robot degrees (-65 to 0) to teleop range (0 to 100) + if "gripper" in base_name: + val = val / -0.65 target_motor = joint_remap.get(base_name, base_name) # Check flip on target_motor (leader joint) to match get_action() logic if target_motor in right_motors_to_flip: @@ -353,6 +356,9 @@ class OpenArmsMini(Teleoperator): right_positions[target_motor] = val elif motor_name.startswith("left_"): base_name = motor_name.removeprefix("left_") + # Convert gripper from robot degrees (-65 to 0) to teleop range (0 to 100) + if "gripper" in base_name: + val = val / -0.65 target_motor = joint_remap.get(base_name, base_name) # Check flip on target_motor (leader joint) to match get_action() logic if target_motor in left_motors_to_flip: @@ -409,6 +415,9 @@ class OpenArmsMini(Teleoperator): motor_name = key.removesuffix(".pos") if motor_name.startswith("right_"): base_name = motor_name.removeprefix("right_") + # Convert gripper from robot degrees (-65 to 0) to teleop range (0 to 100) + if "gripper" in base_name: + val = val / -0.65 target_motor = joint_remap.get(base_name, base_name) # Check flip on target_motor (leader joint) to match get_action() logic if target_motor in right_motors_to_flip: @@ -417,6 +426,9 @@ class OpenArmsMini(Teleoperator): target_parsed[f"right_{target_motor}"] = val elif motor_name.startswith("left_"): base_name = motor_name.removeprefix("left_") + # Convert gripper from robot degrees (-65 to 0) to teleop range (0 to 100) + if "gripper" in base_name: + val = val / -0.65 target_motor = joint_remap.get(base_name, base_name) # Check flip on target_motor (leader joint) to match get_action() logic if target_motor in left_motors_to_flip: