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tangger
2025-05-05 18:16:30 +08:00
parent ea9048b896
commit ba241c1f55
4 changed files with 162 additions and 7 deletions
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4
lerobot/common/robot_devices/motors/piper.py
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@@ -113,7 +113,9 @@ class PiperMotorsBus:
joint_5 = round(target_joint[5]*self.joint_factor)
gripper_range = round(target_joint[6]*1000*1000)
self.piper.MotionCtrl_2(0x01, 0x01, 100, 0x00) # joint control
self.piper.MotionCtrl_2(0x01, 0x01, 100, 0x00) # joint control # 0x00 标准模式
# self.piper.MotionCtrl_2(0x01, 0x01, 10, 0xAD) # joint control # mit模式
self.piper.JointCtrl(joint_0, joint_1, joint_2, joint_3, joint_4, joint_5)
self.piper.GripperCtrl(abs(gripper_range), 1000, 0x01, 0) # 单位 0.001°