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Zero homing, same values as previous calib

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Pepijn
2025-02-19 15:22:07 +01:00
parent 645bfd78d8
commit 25a5b9ad0b
3 changed files with 15 additions and 43 deletions
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9
lerobot/common/robot_devices/robots/feetech_calibration.py
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@@ -118,10 +118,10 @@ 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("\nMove arm to homing position (middle)")
print("\nMove arm to homing position (zero)")
print(
"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 zero) in tutorial
input("Press Enter to continue...")
start_positions = np.zeros(len(arm.motor_indices))
@@ -146,8 +146,9 @@ 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!")
# Force drive_mode values: motors 2 and 5 -> drive_mode 1; all others -> 0.
drive_modes = [0, 0, 0, 0, 0, 0]
# Force drive_mode values: motors 2 and 5 -> drive_mode 1; all others -> 0. 1 = clockwise = positive range (0..180), 0 = clockwise = negative range (0..-180)
#
drive_modes = [0, 1, 0, 0, 1, 0]
calib_dict = {
"homing_offset": encoder_offsets.astype(int).tolist(),