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Fix arm joints order

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This commit is contained in:
Simon Alibert
2025-05-23 16:02:03 +02:00
parent 97e1860182
commit 325f5d72f8
1 changed files with 13 additions and 8 deletions
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21
lerobot/common/teleoperators/homonculus/homonculus_arm.py
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@@ -45,13 +45,13 @@ class HomonculusArm(Teleoperator):
self.serial = serial.Serial(config.port, config.baud_rate, timeout=1) self.serial = serial.Serial(config.port, config.baud_rate, timeout=1)
self.joints = { self.joints = {
"wrist_roll": MotorNormMode.RANGE_M100_100,
"wrist_pitch": MotorNormMode.RANGE_M100_100,
"wrist_yaw": MotorNormMode.RANGE_M100_100,
"elbow_flex": MotorNormMode.RANGE_M100_100,
"shoulder_roll": MotorNormMode.RANGE_M100_100,
"shoulder_yaw": MotorNormMode.RANGE_M100_100,
"shoulder_pitch": MotorNormMode.RANGE_M100_100, "shoulder_pitch": MotorNormMode.RANGE_M100_100,
"shoulder_yaw": MotorNormMode.RANGE_M100_100,
"shoulder_roll": MotorNormMode.RANGE_M100_100,
"elbow_flex": MotorNormMode.RANGE_M100_100,
"wrist_roll": MotorNormMode.RANGE_M100_100,
"wrist_yaw": MotorNormMode.RANGE_M100_100,
"wrist_pitch": MotorNormMode.RANGE_M100_100,
} }
self.thread = threading.Thread(target=self._async_read, daemon=True, name=f"{self} _async_read") self.thread = threading.Thread(target=self._async_read, daemon=True, name=f"{self} _async_read")
self._lock = threading.Lock() self._lock = threading.Lock()
@@ -206,8 +206,13 @@ class HomonculusArm(Teleoperator):
try: try:
joint_angles = { joint_angles = {
joint: int(pos) "shoulder_pitch": int(raw_values[19]),
for joint, pos in zip(self.joints, raw_values[:2] + raw_values[16:], strict=True) "shoulder_yaw": int(raw_values[18]),
"shoulder_roll": int(raw_values[20]),
"elbow_flex": int(raw_values[17]),
"wrist_roll": int(raw_values[16]),
"wrist_yaw": int(raw_values[1]),
"wrist_pitch": int(raw_values[0]),
} }
except ValueError: except ValueError:
continue continue