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add gripper in send feedback

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Pepijn
2026-01-02 11:22:45 +01:00
parent c76bc4cdea
commit 90145426b4
1 changed files with 12 additions and 0 deletions
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src/lerobot/teleoperators/openarms_mini/openarms_mini.py
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@@ -345,6 +345,9 @@ class OpenArmsMini(Teleoperator):
motor_name = key.removesuffix(".pos") motor_name = key.removesuffix(".pos")
if motor_name.startswith("right_"): if motor_name.startswith("right_"):
base_name = motor_name.removeprefix("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) target_motor = joint_remap.get(base_name, base_name)
# Check flip on target_motor (leader joint) to match get_action() logic # Check flip on target_motor (leader joint) to match get_action() logic
if target_motor in right_motors_to_flip: if target_motor in right_motors_to_flip:
@@ -353,6 +356,9 @@ class OpenArmsMini(Teleoperator):
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_")
# 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) target_motor = joint_remap.get(base_name, base_name)
# Check flip on target_motor (leader joint) to match get_action() logic # Check flip on target_motor (leader joint) to match get_action() logic
if target_motor in left_motors_to_flip: if target_motor in left_motors_to_flip:
@@ -409,6 +415,9 @@ class OpenArmsMini(Teleoperator):
motor_name = key.removesuffix(".pos") motor_name = key.removesuffix(".pos")
if motor_name.startswith("right_"): if motor_name.startswith("right_"):
base_name = motor_name.removeprefix("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) target_motor = joint_remap.get(base_name, base_name)
# Check flip on target_motor (leader joint) to match get_action() logic # Check flip on target_motor (leader joint) to match get_action() logic
if target_motor in right_motors_to_flip: if target_motor in right_motors_to_flip:
@@ -417,6 +426,9 @@ class OpenArmsMini(Teleoperator):
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_")
# 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) target_motor = joint_remap.get(base_name, base_name)
# Check flip on target_motor (leader joint) to match get_action() logic # Check flip on target_motor (leader joint) to match get_action() logic
if target_motor in left_motors_to_flip: if target_motor in left_motors_to_flip: