Question about joint_4 being fixed in PiPER teleoperation data collection

[kekekek111]

Hi, thanks for the great work!

I have a question about the teleoperation data collection setup. I noticed that the control for joint_4 of the PiPER robot arm seems to always be fixed during data collection.

Could you please explain why joint_4 is handled this way? Is this due to a hardware limitation, a design choice for teleoperation stability, or something specific to the data collection pipeline?

Thanks in advance!