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Update homonculus hand & arm

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This commit is contained in:
Simon Alibert
2025-05-13 18:49:30 +02:00
parent f9f3088060
commit 0df6a3fcef
2 changed files with 6 additions and 34 deletions
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6
lerobot/common/teleoperators/homonculus/homonculus_arm.py
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@@ -76,11 +76,7 @@ class HomonculusArm(Teleoperator):
@property
def action_feature(self) -> dict:
return {
"dtype": "float32",
"shape": (len(self.joints),),
"names": {"motors": self.joints},
}
return {f"{joint}.pos": float for joint in self.joints}
@property
def feedback_feature(self) -> dict:

34
lerobot/common/teleoperators/homonculus/homonculus_glove.py
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@@ -82,11 +82,7 @@ class HomonculusGlove(Teleoperator):
@property
def action_feature(self) -> dict:
return {
"dtype": "float32",
"shape": (len(self.joints),),
"names": {"motors": self.joints},
}
return {f"{joint}.pos": float for joint in self.joints}
@property
def feedback_feature(self) -> dict:
@@ -192,34 +188,14 @@ class HomonculusGlove(Teleoperator):
vals = vals.split(" ")
if len(vals) != 17:
continue
vals = [int(val) for val in vals]
d = {
"thumb_0": vals[0],
"thumb_1": vals[1],
"thumb_2": vals[2],
"thumb_3": vals[3],
"index_0": vals[4],
"index_1": vals[5],
"index_2": vals[6],
"middle_0": vals[7],
"middle_1": vals[8],
"middle_2": vals[9],
"ring_0": vals[10],
"ring_1": vals[11],
"ring_2": vals[12],
"pinky_0": vals[13],
"pinky_1": vals[14],
"pinky_2": vals[15],
"battery_voltage": vals[16],
self.last_d = {
joint: int(val) for joint, val in zip(self.joints, self.joint_names, strict=True)
}
# Update the last_d dictionary
self.last_d = d
# Also push these new values into the rolling buffers
for joint_name, joint_val in d.items():
self.joints_buffer[joint_name].append(joint_val)
for joint, val in self.last_d.items():
self.joints_buffer[joint].append(val)
def run_calibration(self):
print("\nMove hand to open position")