Add new calibration method for robot refactor (#896)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
2025-03-25 16:24:04 +01:00
parent 7a3b424cd3
commit 21c3ac42ee
9 changed files with 372 additions and 467 deletions
--- a/lerobot/common/robots/koch/robot_koch.py
+++ b/lerobot/common/robots/koch/robot_koch.py
@@ -149,6 +149,7 @@ class KochRobot(Robot):
        self.is_connected = True

    def calibrate(self) -> None:
+        # TODO(pepijn): Do calibration in same way as so100
        """After calibration all motors function in human interpretable ranges.
        Rotations are expressed in degrees in nominal range of [-180, 180],
        and linear motions (like gripper of Aloha) in nominal range of [0, 100].