Inkyu/2025 12 11 gripper offset #4
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| scale = getattr(self.config, "gripper_scale", 1.0) | ||
| offset = getattr(self.config, "gripper_offset", 0.0) | ||
| goal_pos[gripper_idx] = scale * x_leader + offset | ||
| print("leader:", leader_pos[name]) #for tuning |
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Bug: In-place tensor modification corrupts leader position data
The assignment goal_pos = leader_pos[name] creates a reference to the same tensor, not a copy. When goal_pos[gripper_idx] is modified with the scale and offset, it also mutates the original leader_pos[name] tensor in-place. This causes the debug print at line 503 to show the modified value instead of the original leader position, and could cause issues if leader_pos is used elsewhere in future code. The tensor needs to be cloned before modification.
| self.gripper_idxs: dict[str, int] = {} | ||
| for name, bus in self.follower_arms.items(): | ||
| names = list(bus.motor_names) | ||
| print("follower_arms motor names:", names) #for tuning |
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Bug: Debug print statements accidentally committed to production code
Multiple debug print statements with #for tuning comments have been left in the code. These include printing motor names during initialization and printing leader/goal positions during each teleop step. These will produce excessive console output in production and appear to be development artifacts that weren't intended to be committed.
Additional Locations (1)
…otics/trossen-lerobot into inkyu/2025-12-11-gripper-offset
Adjusting follower's gripper offset configuration.
Setting
gripper_offsetto 0.01 yields 2cm opened follower's gripper when leader gripper is fully closed. (i.e., 1cm per finger from the centre of the gripper).Tested positive value and it worked, but careful adjustment required with negative values. It can cause the following error
[ERROR] [Motor Interface] Joint 6 position limit exceeded: expected in range [-0.004000, 0.044000], motor reported -0.005256. Setting to idle.At the moment gripper_offset is set as 0 intentionally -> no impact.
Note
Adds per-gripper linear mapping (scale + offset) from leader to follower for Trossen AI robots, with auto-detected gripper joint index.
joint_6) per arm and stores ingripper_idxs.trossen_ai_stationaryandtrossen_ai_solo, applies linear mapping to gripper joint during teleop:goal = scale * leader + offset(with debug prints), before safety clamping and write.gripper_scaleandgripper_offsettoTrossenAIStationaryRobotConfig(defaults:1.0,0).Written by Cursor Bugbot for commit f3d4c7b. This will update automatically on new commits. Configure here.