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Add Motor in dxl robots

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This commit is contained in:
Simon Alibert
2025-03-23 11:08:20 +01:00
parent e047074825
commit 1f1e1bcfe8
8 changed files with 38 additions and 61 deletions
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14
lerobot/common/robots/koch/robot_koch.py
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@@ -23,7 +23,7 @@ import numpy as np
from lerobot.common.cameras.utils import make_cameras_from_configs
from lerobot.common.constants import OBS_IMAGES, OBS_STATE
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import TorqueMode
from lerobot.common.motors import CalibrationMode, Motor, TorqueMode
from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus,
run_arm_calibration,
@@ -52,12 +52,12 @@ class KochRobot(Robot):
self.arm = DynamixelMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": (1, "xl430-w250"),
"shoulder_lift": (2, "xl430-w250"),
"elbow_flex": (3, "xl330-m288"),
"wrist_flex": (4, "xl330-m288"),
"wrist_roll": (5, "xl330-m288"),
"gripper": (6, "xl330-m288"),
"shoulder_pan": Motor(1, "xl430-w250", CalibrationMode.RANGE_M100_100),
"shoulder_lift": Motor(2, "xl430-w250", CalibrationMode.RANGE_M100_100),
"elbow_flex": Motor(3, "xl330-m288", CalibrationMode.RANGE_M100_100),
"wrist_flex": Motor(4, "xl330-m288", CalibrationMode.RANGE_M100_100),
"wrist_roll": Motor(5, "xl330-m288", CalibrationMode.RANGE_M100_100),
"gripper": Motor(6, "xl330-m288", CalibrationMode.RANGE_0_100),
},
)
self.cameras = make_cameras_from_configs(config.cameras)