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qq_25176263qq_25176263feat(teleop): improve phone device Cartesian control and auto-home
37441daf创建于 3月27日历史提交
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lerobot
feat: refine MoveIt kinematics config and enhance moveit_gateway Refine the SO101 kinematics solver parameters in kinematics.yaml for improved IK accuracy and stability. Enhance moveit_gateway.py with better error handling and logging capabilities. Signed-off-by: liuweihong <liuweihong8@huawei.com> 2 个月前
so101_servo.yaml
feat: implement and optimize Xbox teleoperation support * Add XboxTeleopDevice with full-state reporting * Fix dead-travel and jumps via State-Following and Direction-Snap * Increase lead clamping to 0.5 rad for better responsiveness * Add tiered and mode-specific usage instructions * Delay teleop startup until controllers are ready in launch * Enable gripper control in Cartesian mode * Add Xbox mapping and MoveIt Servo configurations 2 个月前