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Merge branch 'user/rcadene/2024_09_04_feetech' of github.com:huggingface/lerobot into user/rcadene/2024_09_04_feetech

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jess-moss
2024-09-17 11:42:29 -05:00
parent 9d23d04691 50c4b51049
commit 0035bb962a
2 changed files with 5 additions and 4 deletions
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6
lerobot/common/robot_devices/motors/feetech.py
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@@ -100,9 +100,9 @@ SCS_SERIES_BAUDRATE_TABLE = {
2: 250_000, 2: 250_000,
3: 128_000, 3: 128_000,
4: 115_200, 4: 115_200,
# 5: 76_800, 5: 57_600,
# 6: 57_600, 6: 38_400,
# 7: 38_400, 7: 19_200,
} }
CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"] CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]

3
lerobot/common/robot_devices/robots/manipulator.py
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@@ -10,7 +10,7 @@ import numpy as np
import torch import torch
from lerobot.common.robot_devices.cameras.utils import Camera 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, CalibrationMode,
TorqueMode, TorqueMode,
convert_degrees_to_steps, convert_degrees_to_steps,
@@ -364,6 +364,7 @@ class ManipulatorRobot:
for name in self.follower_arms: for name in self.follower_arms:
print(f"Connecting {name} follower arm.") print(f"Connecting {name} follower arm.")
self.follower_arms[name].connect() self.follower_arms[name].connect()
for name in self.leader_arms:
print(f"Connecting {name} leader arm.") print(f"Connecting {name} leader arm.")
self.leader_arms[name].connect() self.leader_arms[name].connect()