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[Fix] Move back to manual calibration (#488)

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This commit is contained in:
Remi
2024-10-26 15:27:21 +02:00
committed by GitHub
parent 55e4ff6742
commit 172809a502
9 changed files with 18 additions and 25 deletions
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9
lerobot/common/robot_devices/robots/manipulator.py
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@@ -338,17 +338,10 @@ class ManipulatorRobot:
elif self.robot_type in ["so100", "moss"]:
from lerobot.common.robot_devices.robots.feetech_calibration import (
run_arm_auto_calibration,
run_arm_manual_calibration,
)
# TODO(rcadene): better way to handle mocking + test run_arm_auto_calibration
if arm_type == "leader" or arm.mock:
calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
elif arm_type == "follower":
calibration = run_arm_auto_calibration(arm, self.robot_type, name, arm_type)
else:
raise ValueError(arm_type)
calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)