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fix: calibration workflow when using robot_id with existing calibration files (#1528)

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This commit is contained in:
Adil Zouitine
2025-07-20 23:41:19 +02:00
committed by GitHub
parent e88b30e6cc
commit 26cb4614c9
7 changed files with 88 additions and 0 deletions
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12
src/lerobot/robots/koch_follower/koch_follower.py
View File

@@ -94,6 +94,9 @@ class KochFollower(Robot):
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
for cam in self.cameras.values():
@@ -107,6 +110,15 @@ class KochFollower(Robot):
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors:

12
src/lerobot/robots/lekiwi/lekiwi.py
View File

@@ -114,6 +114,9 @@ class LeKiwi(Robot):
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
for cam in self.cameras.values():
@@ -127,6 +130,15 @@ class LeKiwi(Robot):
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
motors = self.arm_motors + self.base_motors

13
src/lerobot/robots/so100_follower/so100_follower.py
View File

@@ -92,6 +92,9 @@ class SO100Follower(Robot):
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
for cam in self.cameras.values():
@@ -105,6 +108,16 @@ class SO100Follower(Robot):
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors:

13
src/lerobot/robots/so101_follower/so101_follower.py
View File

@@ -92,6 +92,9 @@ class SO101Follower(Robot):
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
for cam in self.cameras.values():
@@ -105,6 +108,16 @@ class SO101Follower(Robot):
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# self.calibration is not empty here
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors:

12
src/lerobot/teleoperators/koch_leader/koch_leader.py
View File

@@ -75,6 +75,9 @@ class KochLeader(Teleoperator):
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
self.configure()
@@ -85,6 +88,15 @@ class KochLeader(Teleoperator):
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors:

13
src/lerobot/teleoperators/so100_leader/so100_leader.py
View File

@@ -72,6 +72,9 @@ class SO100Leader(Teleoperator):
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
self.configure()
@@ -82,6 +85,16 @@ class SO100Leader(Teleoperator):
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors:

13
src/lerobot/teleoperators/so101_leader/so101_leader.py
View File

@@ -73,6 +73,9 @@ class SO101Leader(Teleoperator):
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
self.configure()
@@ -83,6 +86,16 @@ class SO101Leader(Teleoperator):
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors: