From 2c0171632f57c09e6e3774efa0467377ecb00721 Mon Sep 17 00:00:00 2001
From: Remi Cadene <remi.cadene@huggingface.co>
Date: Wed, 25 Sep 2024 15:18:21 +0200
Subject: [PATCH] fix aloha mock

---
 tests/mock_dynamixel.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tests/mock_dynamixel.py b/tests/mock_dynamixel.py
index bf0a09076..a3063e63e 100644
--- a/tests/mock_dynamixel.py
+++ b/tests/mock_dynamixel.py
@@ -59,7 +59,9 @@ class MockGroupSyncRead:
                 8: DEFAULT_BAUDRATE,  # Baud_rate
                 10: 0,  # Drive_Mode
                 64: 0,  # Torque_Enable
-                132: 0,  # Present_Position
+                # Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144
+                # For other joints, 2560 will be autocorrected to be in calibration range
+                132: 2560,  # Present_Position
             }
 
     def txRxPacket(self):  # noqa: N802