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- added back degrees mode back to motor bus for IK and FK to work properly

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- created new so100followerendeffector robot that inherits from so100follower but takes eef actions and transforms them to joint positions
- created teleop_gamepad device to use gamepad as a teleoperater
This commit is contained in:
Michel Aractingi
2025-05-20 19:11:50 +02:00
committed by AdilZouitine
parent b166296ba5
commit 05fcfca374
7 changed files with 72 additions and 4 deletions
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4
lerobot/scripts/server/end_effector_control_utils.py
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@@ -22,7 +22,7 @@ import time
import numpy as np
import torch
from lerobot.common.robot_devices.utils import busy_wait
from lerobot.common.utils.robot_utils import busy_wait
from lerobot.common.utils.utils import init_logging
from lerobot.scripts.server.kinematics import RobotKinematics
@@ -95,7 +95,7 @@ class InputController:
def gripper_command(self):
"""Return the current gripper command."""
if self.open_gripper_command == self.close_gripper_command:
return "no-op"
return "stay"
elif self.open_gripper_command:
return "open"
elif self.close_gripper_command: