微调手柄控制

2025-05-05 18:16:30 +08:00
parent ea9048b896
commit ba241c1f55
4 changed files with 162 additions and 7 deletions
--- a/lerobot/common/robot_devices/robots/piper.py
+++ b/lerobot/common/robot_devices/robots/piper.py
@@ -136,7 +136,7 @@ class PiperRobot:
    ) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]:
        if not self.is_connected:
            raise ConnectionError()
-        
+
        if self.teleop is None and self.inference_time:
            self.teleop = SixAxisArmController()