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removing and fixing unused parameters #31

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removing and fixing unused parameters #31

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6 changes: 0 additions & 6 deletions examples/1_tune_teleop_params.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,12 +101,6 @@ def on_button_b_pressed() -> None:
default=None,
help="IP address of Meta Quest device (optional, defaults to None for auto-discovery)",
)
parser.add_argument(
"--dataset-name",
type=str,
default=None,
help="Optional name for the saved teleop data file",
)
args = parser.parse_args()

print("=" * 60)
Expand Down
10 changes: 6 additions & 4 deletions piper_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -86,12 +86,14 @@ def __init__(
)

# Gripper range in degrees (for internal SDK communication)
self.GRIPPER_DEGREES_MIN = 0.000
self.GRIPPER_DEGREES_MIN = -5.000
self.GRIPPER_DEGREES_MAX = 95.00
self.GRIPPER_DEGREES_RANGE = self.GRIPPER_DEGREES_MAX - self.GRIPPER_DEGREES_MIN

# Home gripper value in normalized form (53.8 / 95.0)
self.HOME_GRIPPER_OPEN_VALUE_DEGREES = 53.800
# Home gripper value in degrees
self.HOME_GRIPPER_OPEN_VALUE_DEGREES = (
self.GRIPPER_DEGREES_RANGE / 2.0
) + self.GRIPPER_DEGREES_MIN

# End-effector target pose
self._target_pose = self.HOME_POSE.copy()
Expand Down Expand Up @@ -351,7 +353,6 @@ def set_gripper_open_value(self, gripper_open_value: float) -> None:
self._gripper_open_value_degrees = (
normalized * self.GRIPPER_DEGREES_RANGE + self.GRIPPER_DEGREES_MIN
)

if self.debug_mode:
print(f"Gripper updated: {normalized:.3f} (normalized)")

Expand Down Expand Up @@ -549,6 +550,7 @@ def _send_gripper_command(self, gripper_open_value_degrees: float) -> None:
try:
# Convert from degrees to piper SDK units (0.001degrees)
gripper_value = round(gripper_open_value_degrees * 1000)

self.piper.GripperCtrl(gripper_value, 1000, 0x01, 0)

except Exception as e:
Expand Down