From 49baccdccb2433d0c8b4c4b8610b4372dc725340 Mon Sep 17 00:00:00 2001 From: Steven Gong Date: Mon, 8 Sep 2025 02:38:13 -0700 Subject: [PATCH] Disable torque before applying calibration logic (#1889) --- src/lerobot/robots/koch_follower/koch_follower.py | 2 +- src/lerobot/teleoperators/koch_leader/koch_leader.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/robots/koch_follower/koch_follower.py b/src/lerobot/robots/koch_follower/koch_follower.py index b09b9b8e2..563325b88 100644 --- a/src/lerobot/robots/koch_follower/koch_follower.py +++ b/src/lerobot/robots/koch_follower/koch_follower.py @@ -110,6 +110,7 @@ class KochFollower(Robot): return self.bus.is_calibrated def calibrate(self) -> None: + self.bus.disable_torque() if self.calibration: # Calibration file exists, ask user whether to use it or run new calibration user_input = input( @@ -120,7 +121,6 @@ class KochFollower(Robot): self.bus.write_calibration(self.calibration) return logger.info(f"\nRunning calibration of {self}") - self.bus.disable_torque() for motor in self.bus.motors: self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value) diff --git a/src/lerobot/teleoperators/koch_leader/koch_leader.py b/src/lerobot/teleoperators/koch_leader/koch_leader.py index e0318cca5..f703d5b6e 100644 --- a/src/lerobot/teleoperators/koch_leader/koch_leader.py +++ b/src/lerobot/teleoperators/koch_leader/koch_leader.py @@ -88,6 +88,7 @@ class KochLeader(Teleoperator): return self.bus.is_calibrated def calibrate(self) -> None: + self.bus.disable_torque() if self.calibration: # Calibration file exists, ask user whether to use it or run new calibration user_input = input( @@ -98,7 +99,6 @@ class KochLeader(Teleoperator): self.bus.write_calibration(self.calibration) return logger.info(f"\nRunning calibration of {self}") - self.bus.disable_torque() for motor in self.bus.motors: self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)