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update configure

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Pepijn
2025-01-30 19:22:21 +01:00
parent 3ef54ab019
commit 1d121e3321
2 changed files with 21 additions and 23 deletions
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17
lerobot/common/robot_devices/robots/feetech_calibration.py
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@@ -128,16 +128,19 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
end_positions = np.zeros(len(arm.motor_indices))
encoder_offsets = np.zeros(len(arm.motor_indices))
# Call single motor calibration for each motor id
for i, id in enumerate(arm.motor_indices):
if id == 6:
start_positions[i], end_positions[i] = calibrate_linear_motor(id, arm)
encoder_offsets[i] = 0
else:
encoder_offsets[i] = calibrate_homing_motor(id, arm)
modes = get_calibration_modes(arm)
for i, motor_id in enumerate(arm.motor_indices):
if modes[i] == CalibrationMode.DEGREE.name:
encoder_offsets[i] = calibrate_homing_motor(motor_id, arm)
start_positions[i] = 0
end_positions[i] = 0
for i, motor_id in enumerate(arm.motor_indices):
if modes[i] == CalibrationMode.LINEAR.name:
start_positions[i], end_positions[i] = calibrate_linear_motor(motor_id, arm)
encoder_offsets[i] = 0
print("\nMove arm to rest position")
input("Press Enter to continue...")