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Merge branch 'main' into feat/accelerate-melt-gpus

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Pepijn
2025-10-16 14:46:52 +02:00
committed by GitHub
parent 8a32764c38 845b359d39
commit ccdf06f0f1
2 changed files with 18 additions and 4 deletions
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11
src/lerobot/teleoperators/homunculus/homunculus_arm.py
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@@ -270,8 +270,15 @@ class HomunculusArm(Teleoperator):
raw_values = None
with self.serial_lock:
if self.serial.in_waiting > 0:
self.serial.flush()
raw_values = self.serial.readline().decode("utf-8").strip().split(" ")
lines = []
while self.serial.in_waiting > 0:
line = self.serial.read_until().decode("utf-8").strip()
if line:
lines.append(line.split(" "))
if lines:
raw_values = lines[-1]
if raw_values is None or len(raw_values) != 21: # 16 raw + 5 angle values
continue

11
src/lerobot/teleoperators/homunculus/homunculus_glove.py
View File

@@ -304,8 +304,15 @@ class HomunculusGlove(Teleoperator):
positions = None
with self.serial_lock:
if self.serial.in_waiting > 0:
self.serial.flush()
positions = self.serial.readline().decode("utf-8").strip().split(" ")
lines = []
while self.serial.in_waiting > 0:
line = self.serial.read_until().decode("utf-8").strip()
if line:
lines.append(line.split(" "))
if lines:
positions = lines[-1]
if positions is None or len(positions) != len(self.joints):
continue