From c28e774234667ae4fc7297d3d0c87f96d5c46ea4 Mon Sep 17 00:00:00 2001
From: yutang <yt.li2@siat.ac.cn>
Date: Fri, 13 Jun 2025 20:17:31 +0800
Subject: [PATCH] optimaze the speed of end pose control

---
 lerobot/common/robot_devices/robots/configs.py | 7 +++++++
 lerobot/common/robot_devices/teleop/gamepad.py | 4 ++--
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/lerobot/common/robot_devices/robots/configs.py b/lerobot/common/robot_devices/robots/configs.py
index 0869a577..d89b2e0e 100644
--- a/lerobot/common/robot_devices/robots/configs.py
+++ b/lerobot/common/robot_devices/robots/configs.py
@@ -735,6 +735,13 @@ class RealmanRobotConfig(RobotConfig):
                 height=480,
                 use_depth=False
             ),
+            "high": IntelRealSenseCameraConfig(
+                serial_number="145422072193",
+                fps=30,
+                width=640,
+                height=480,
+                use_depth=False
+            ),
         }
     )
 
diff --git a/lerobot/common/robot_devices/teleop/gamepad.py b/lerobot/common/robot_devices/teleop/gamepad.py
index ecae100c..72ddcda4 100644
--- a/lerobot/common/robot_devices/teleop/gamepad.py
+++ b/lerobot/common/robot_devices/teleop/gamepad.py
@@ -197,8 +197,8 @@ class HybridController:
         ]
         
         # 控制参数
-        self.linear_step = 0.005      # 线性移动步长(m)
-        self.angular_step = 0.05      # 角度步长(rad)
+        self.linear_step = 0.002      # 线性移动步长(m)
+        self.angular_step = 0.01      # 角度步长(rad)
         
         # 夹爪状态和速度
         self.gripper_speed = 10