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fix teleop

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This commit is contained in:
Sebastian-Contrari
2025-04-11 16:28:06 +02:00
parent 54b685053e
commit 0306e18640
29 changed files with 2670 additions and 119 deletions
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70
examples/hopejr/follower.py
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@@ -32,29 +32,29 @@ class HopeJuniorRobot:
motors = {
# Thumb
"thumb_basel_rotation": [1, "scs0009"],
"thumb_mcp": [2, "scs0009"],
"thumb_pip": [3, "scs0009"],
"thumb_dip": [4, "scs0009"],
"thumb_mcp": [3, "scs0009"],
"thumb_pip": [4, "scs0009"],
"thumb_dip": [13, "scs0009"],
# Index
"index_thumb_side": [5, "scs0009"],
"index_pinky_side": [6, "scs0009"],
"index_flexor": [7, "scs0009"],
"index_flexor": [16, "scs0009"],
# Middle
"middle_thumb_side": [8, "scs0009"],
"middle_pinky_side": [9, "scs0009"],
"middle_flexor": [10, "scs0009"],
"middle_flexor": [2, "scs0009"],
# Ring
"ring_thumb_side": [11, "scs0009"],
"ring_pinky_side": [12, "scs0009"],
"ring_flexor": [13, "scs0009"],
"ring_flexor": [7, "scs0009"],
# Pinky
"pinky_thumb_side": [14, "scs0009"],
"pinky_pinky_side": [15, "scs0009"],
"pinky_flexor": [16, "scs0009"],
"pinky_flexor": [10, "scs0009"],
},
protocol_version=1,#1
group_sync_read=False,
@@ -83,48 +83,48 @@ class HopeJuniorRobot:
start_pos = [
750, # thumb_basel_rotation
1000, # thumb_mcp
500, # thumb_pip
950, # thumb_dip
100, # thumb_mcp
700, # thumb_pip
100, # thumb_dip
150, # index_thumb_side
800, # index_thumb_side
950, # index_pinky_side
500, # index_flexor
0, # index_flexor
250, # middle_thumb_side
850, # middle_pinky_side
1000, # middle_flexor
0, # middle_flexor
850, # ring_thumb_side
900, # ring_pinky_side
600, # ring_flexor
0, # ring_flexor
00, # pinky_thumb_side
950, # pinky_pinky_side
150, # pinky_flexor
0, # pinky_flexor
]
end_pos = [
start_pos[0] - 550, # thumb_basel_rotation
start_pos[1] - 350, # thumb_mcp
start_pos[2] + 500, # thumb_pip
start_pos[3] - 550, # thumb_dip
start_pos[1] + 400, # thumb_mcp
start_pos[2] + 300, # thumb_pip
start_pos[3] + 200, # thumb_dip
start_pos[4] + 350, # index_thumb_side
start_pos[4] - 700, # index_thumb_side
start_pos[5] - 300, # index_pinky_side
start_pos[6] + 500, # index_flexor
start_pos[6] + 600, # index_flexor
start_pos[7] + 400, # middle_thumb_side
start_pos[7] + 700, # middle_thumb_side
start_pos[8] - 400, # middle_pinky_side
start_pos[9] - 650, # middle_flexor
start_pos[9] + 600, # middle_flexor
start_pos[10] - 400, # ring_thumb_side
start_pos[10] - 600, # ring_thumb_side
start_pos[11] - 400, # ring_pinky_side
start_pos[12] + 400, # ring_flexor
start_pos[12] + 600, # ring_flexor
start_pos[13] + 500, # pinky_thumb_side
start_pos[14] - 350, # pinky_pinky_side
start_pos[15] + 450, # pinky_flexor
start_pos[13] + 400, # pinky_thumb_side
start_pos[14] - 450, # pinky_pinky_side
start_pos[15] + 600, # pinky_flexor
]
@@ -148,23 +148,23 @@ class HopeJuniorRobot:
drive_mode = [0] * len(self.arm_bus.motor_names)
start_pos = [
1600, # shoulder_up
2450, # shoulder_forward
1700, # shoulder_roll
1150, # bend_elbow
1800, # shoulder_up
2800, # shoulder_forward
1800, # shoulder_roll
1200, # bend_elbow
700, # wrist_roll
1850, # wrist_yaw
1700, # wrist_pitch
]
end_pos = [
3100, # shoulder_up
2800, # shoulder_up
3150, # shoulder_forward
400, #shoulder_roll
2800, # bend_elbow
2600, # wrist_roll
2300, # bend_elbow
2300, # wrist_roll
2150, # wrist_yaw
2400, # wrist_pitch
2300, # wrist_pitch
]
calib_modes = [CalibrationMode.LINEAR.name] * len(self.arm_bus.motor_names)