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set drive mode

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This commit is contained in:
Pepijn
2025-02-19 11:34:56 +01:00
parent 042c095ddd
commit 18ae1b802d
1 changed files with 5 additions and 2 deletions
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7
lerobot/common/robot_devices/robots/feetech_calibration.py
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@@ -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(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
print("\nMove arm to homing position") print("\nMove arm to homing position (middle)")
print( print(
"See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero") "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 ) # 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!") 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 = { calib_dict = {
"homing_offset": encoder_offsets.astype(int).tolist(), "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(), "start_pos": start_positions.astype(int).tolist(),
"end_pos": end_positions.astype(int).tolist(), "end_pos": end_positions.astype(int).tolist(),
"calib_mode": get_calibration_modes(arm), "calib_mode": get_calibration_modes(arm),