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remove cache files

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Pepijn
2025-01-30 13:58:44 +01:00
parent f540eb81ff
commit 3ef54ab019
3 changed files with 4 additions and 3 deletions
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1
.cache/calibration/so100/main_follower.json
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@@ -1 +0,0 @@
{"homing_offset": [-1985, 1915, 1984, 2008, 1765, 0], "drive_mode": [0, 0, 0, 0, 0, 0], "start_pos": [0, 0, 0, 0, 0, 1007], "end_pos": [0, 0, 0, 0, 0, 2448], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

1
.cache/calibration/so100/main_leader.json
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@@ -1 +0,0 @@
{"homing_offset": [1433, 4, 1917, -263, 972, 0], "drive_mode": [0, 0, 0, 0, 0, 0], "start_pos": [0, 0, 0, 0, 0, 1534], "end_pos": [0, 0, 0, 0, 0, 2590], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

5
lerobot/common/robot_devices/robots/feetech_calibration.py
View File

@@ -121,7 +121,7 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
print("\nMove arm to homing position")
print(
"See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")
) # TODO: replace with new instruction homing pos (all motors in center)
) # TODO(pepijn): replace with new instruction homing pos (all motors in center)
input("Press Enter to continue...")
start_positions = np.zeros(len(arm.motor_indices))
@@ -138,6 +138,9 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
start_positions[i] = 0
end_positions[i] = 0
print("\nMove arm to rest position")
input("Press Enter to continue...")
print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!")
calib_dict = {