From 18ae1b802dd6aaea8a238676b4fb1130e48c7b11 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Wed, 19 Feb 2025 11:34:56 +0100 Subject: [PATCH] set drive mode --- lerobot/common/robot_devices/robots/feetech_calibration.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/lerobot/common/robot_devices/robots/feetech_calibration.py b/lerobot/common/robot_devices/robots/feetech_calibration.py index 1c50b1e6..cbdada0b 100644 --- a/lerobot/common/robot_devices/robots/feetech_calibration.py +++ b/lerobot/common/robot_devices/robots/feetech_calibration.py @@ -118,7 +118,7 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...") - print("\nMove arm to homing position") + print("\nMove arm to homing position (middle)") print( "See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero") ) # TODO(pepijn): replace with new instruction homing pos (all motors in center) in tutorial @@ -146,9 +146,12 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!") + # Force drive_mode values: motors 2 and 5 -> drive_mode 1; all others -> 0. + drive_modes = [0, 1, 0, 0, 1, 0] + calib_dict = { "homing_offset": encoder_offsets.astype(int).tolist(), - "drive_mode": np.zeros(len(arm.motor_indices), dtype=int).tolist(), + "drive_mode": drive_modes, "start_pos": start_positions.astype(int).tolist(), "end_pos": end_positions.astype(int).tolist(), "calib_mode": get_calibration_modes(arm),