Make gripper_open_degree a config param (#379)

2024-08-26 12:28:16 +01:00
parent 9c7649f140
commit 97086cdcdf
2 changed files with 14 additions and 6 deletions
--- a/lerobot/configs/robot/koch.yaml
+++ b/lerobot/configs/robot/koch.yaml
@@ -37,3 +37,6 @@ cameras:
    fps: 30
    width: 640
    height: 480
+# Sets the leader arm in torque mode with the gripper motor set to this angle. This makes it possible
+# to squeeze the gripper and have it spring back to an open position on its own.
+gripper_open_degree: 35.156