From 640a7889fcea28fca44ebff17435929e5bb2df24 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Thu, 1 Jan 2026 16:49:04 +0100 Subject: [PATCH] use same flip for send_feedback --- .../teleoperators/openarms_mini/openarms_mini.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/src/lerobot/teleoperators/openarms_mini/openarms_mini.py b/src/lerobot/teleoperators/openarms_mini/openarms_mini.py index 7297b1293..5ffb9de4c 100644 --- a/src/lerobot/teleoperators/openarms_mini/openarms_mini.py +++ b/src/lerobot/teleoperators/openarms_mini/openarms_mini.py @@ -346,14 +346,16 @@ class OpenArmsMini(Teleoperator): if motor_name.startswith("right_"): base_name = motor_name.removeprefix("right_") 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 else: right_positions[target_motor] = val elif motor_name.startswith("left_"): base_name = motor_name.removeprefix("left_") 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 else: left_positions[target_motor] = val @@ -408,14 +410,16 @@ class OpenArmsMini(Teleoperator): if motor_name.startswith("right_"): base_name = motor_name.removeprefix("right_") 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 else: target_parsed[f"right_{target_motor}"] = val elif motor_name.startswith("left_"): base_name = motor_name.removeprefix("left_") 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 else: target_parsed[f"left_{target_motor}"] = val