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modifications to gym_manipulator and buffer

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This commit is contained in:
Michel Aractingi
2025-04-07 08:45:53 +02:00
parent ab2c2d39fb
commit f3cea2a3e5
8 changed files with 76 additions and 78 deletions
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20
lerobot/scripts/server/end_effector_control_utils.py
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@@ -258,24 +258,24 @@ class GamepadController(InputController):
elif event.button == 0:
self.episode_end_status = "rerecord_episode"
# RB button (6) for opening gripper
# LT button for closing gripper
elif event.button == 6:
self.open_gripper_command = True
# LT button (7) for closing gripper
elif event.button == 7:
self.close_gripper_command = True
# RB button for opening gripper
elif event.button == 7:
self.open_gripper_command = True
# Reset episode status on button release
elif event.type == pygame.JOYBUTTONUP:
if event.button in [0, 2, 3]:
self.episode_end_status = None
elif event.button == 6:
self.open_gripper_command = False
elif event.button == 7:
if event.button == 6:
self.close_gripper_command = False
if event.button == 7:
self.open_gripper_command = False
# Check for RB button (typically button 5) for intervention flag
if self.joystick.get_button(5):