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add improv openarm mini

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This commit is contained in:
croissant
2025-11-21 16:22:27 +01:00
committed by Michel Aractingi
parent 14319ee608
commit 19fe69dac0
4 changed files with 53 additions and 57 deletions
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25
examples/openarms_web_interface/web_record_server.py
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@@ -112,20 +112,7 @@ FRICTION_SCALE = 1.0
RAMP_UP_DURATION = 3.0 # Seconds to ramp up PID/torque from 0 to full
# OpenArms Mini joint mappings (from teleop_openarms_mini.py)
JOINT_DIRECTION_MINI = {
"right_joint_1": -1,
"right_joint_2": -1,
"right_joint_3": -1,
"right_joint_4": -1,
"right_joint_5": -1,
"left_joint_1": -1,
"left_joint_3": -1,
"left_joint_4": -1,
"left_joint_5": -1,
"left_joint_6": -1,
"left_joint_7": -1,
}
# Note: Direction flipping is now handled in OpenArmsMini.get_action() method
SWAPPED_JOINTS_MINI = {
"right_joint_6": "right_joint_7",
"right_joint_7": "right_joint_6",
@@ -545,6 +532,12 @@ def record_loop_with_compensation():
all_joints.append(f"right_{motor}")
for motor in leader.bus_left.motors:
all_joints.append(f"left_{motor}")
# Disable torque on OpenArms Mini leader for manual control
if leader_type == "openarms_mini":
print(f"[Recording] Disabling torque on OpenArms Mini leader for manual control")
leader.bus_right.disable_torque()
leader.bus_left.disable_torque()
try:
while not stop_recording_flag.is_set():
@@ -561,6 +554,7 @@ def record_loop_with_compensation():
episode_start_time = loop_start
recording_state["recording_started_time"] = time.time() # Set timestamp for UI
print(f"[Recording] Ramp-up complete, starting data recording")
# Update ramp-up status for UI
recording_state["ramp_up_remaining"] = round(ramp_up_remaining, 2)
@@ -693,9 +687,6 @@ def record_loop_with_compensation():
# Map 0-100 (Mini) to 0 to -65 (OpenArms)
# 0 (closed) -> 0°, 100 (open) -> -65°
pos = (pos / 100.0) * -65.0
else:
# Apply direction reversal if specified (non-gripper joints only)
pos *= JOINT_DIRECTION_MINI.get(joint, 1)
follower_action[follower_key] = pos
else: