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Moved the step size from the teleop device to the robot; simplified the automatic takeover code

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Michel Aractingi
2025-05-28 18:38:33 +02:00
committed by AdilZouitine
parent 1edfbf792a
commit 8feda920da
8 changed files with 138 additions and 165 deletions
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5
lerobot/scripts/server/find_joint_limits.py
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@@ -82,11 +82,10 @@ def find_joint_and_ee_bounds(cfg: FindJointLimitsConfig):
while True:
action = teleop.get_action()
robot.send_action(action)
observation = robot.get_observation()
joint_positions = robot.bus.sync_read("Present_Position")
joint_positions = np.array([joint_positions[key] for key in joint_positions.keys()])
ee_pos, ee_rot, _ = kinematics.forward_kinematics(joint_positions * np.pi / 180)
joint_positions = np.array([joint_positions[key] for key in joint_positions])
ee_pos, _, _ = kinematics.forward_kinematics(joint_positions * np.pi / 180)
ee_list.append(ee_pos.copy())
pos_list.append(joint_positions)