From 2826c226d2ad3586ce5c5e82a8c8dc9c4e9d1c45 Mon Sep 17 00:00:00 2001 From: Remi Cadene Date: Tue, 17 Sep 2024 18:35:32 +0200 Subject: [PATCH 1/2] 2 fixes --- lerobot/common/robot_devices/motors/feetech.py | 6 +++--- lerobot/common/robot_devices/robots/manipulator.py | 1 + 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/lerobot/common/robot_devices/motors/feetech.py b/lerobot/common/robot_devices/motors/feetech.py index 42a4dd42..2b1654a6 100644 --- a/lerobot/common/robot_devices/motors/feetech.py +++ b/lerobot/common/robot_devices/motors/feetech.py @@ -100,9 +100,9 @@ SCS_SERIES_BAUDRATE_TABLE = { 2: 250_000, 3: 128_000, 4: 115_200, - # 5: 76_800, - # 6: 57_600, - # 7: 38_400, + 5: 57_600, + 6: 38_400, + 7: 19_200, } CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"] diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py index 33751976..f32b4a72 100644 --- a/lerobot/common/robot_devices/robots/manipulator.py +++ b/lerobot/common/robot_devices/robots/manipulator.py @@ -364,6 +364,7 @@ class ManipulatorRobot: for name in self.follower_arms: print(f"Connecting {name} follower arm.") self.follower_arms[name].connect() + for name in self.leader_arms: print(f"Connecting {name} leader arm.") self.leader_arms[name].connect() From 50c4b51049f4402d2441b1d66bcb02ea6287819e Mon Sep 17 00:00:00 2001 From: Remi Cadene Date: Tue, 17 Sep 2024 18:35:58 +0200 Subject: [PATCH 2/2] TO REMOVE, before merging --- lerobot/common/robot_devices/robots/manipulator.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py index f32b4a72..2f6a5c70 100644 --- a/lerobot/common/robot_devices/robots/manipulator.py +++ b/lerobot/common/robot_devices/robots/manipulator.py @@ -10,7 +10,7 @@ import numpy as np import torch from lerobot.common.robot_devices.cameras.utils import Camera -from lerobot.common.robot_devices.motors.dynamixel import ( +from lerobot.common.robot_devices.motors.feetech import ( CalibrationMode, TorqueMode, convert_degrees_to_steps,