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New Feetech calibration (#859)

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Co-authored-by: Pepijn <pepijn@huggingface.co>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Simon Alibert
2025-03-14 11:31:23 +01:00
committed by GitHub
parent ce63cfdb25
commit 1f7ddc1d76
25 changed files with 529 additions and 795 deletions
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15
lerobot/common/robots/koch/robot_koch.py
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@@ -49,7 +49,6 @@ class KochRobot(Robot):
super().__init__(config)
self.config = config
self.robot_type = config.type
self.id = config.id
self.arm = DynamixelMotorsBus(
port=self.config.port,
@@ -129,19 +128,17 @@ class KochRobot(Robot):
Rotations are expressed in degrees in nominal range of [-180, 180],
and linear motions (like gripper of Aloha) in nominal range of [0, 100].
"""
arm_calib_path = self.calibration_dir / f"{self.config.id}.json"
if arm_calib_path.exists():
with open(arm_calib_path) as f:
if self.calibration_fpath.exists():
with open(self.calibration_fpath) as f:
calibration = json.load(f)
else:
# TODO(rcadene): display a warning in __init__ if calibration file not available
logging.info(f"Missing calibration file '{arm_calib_path}'")
logging.info(f"Missing calibration file '{self.calibration_fpath}'")
calibration = run_arm_calibration(self.arm, self.robot_type, self.name, "follower")
logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
with open(arm_calib_path, "w") as f:
logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
with open(self.calibration_fpath, "w") as f:
json.dump(calibration, f)
self.arm.set_calibration(calibration)