tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Add torque_disabled context

Browse Source
This commit is contained in:
Simon Alibert
2025-04-15 11:43:22 +02:00
parent 9afc4b771c
commit 2bb73ac431
4 changed files with 59 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
lerobot/common/robots/koch/koch_follower.py
View File

@@ -146,29 +146,28 @@ class KochFollower(Robot):
logger.info(f"Calibration saved to {self.calibration_fpath}")
def configure(self) -> None:
self.arm.disable_torque()
self.arm.configure_motors()
# Use 'extended position mode' for all motors except gripper, because in joint mode the servos
# can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while
# assembling the arm, you could end up with a servo with a position 0 or 4095 at a crucial
# point
for name in self.arm.names:
if name != "gripper":
self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
with self.arm.torque_disabled():
self.arm.configure_motors()
# Use 'extended position mode' for all motors except gripper, because in joint mode the servos
# can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while assembling
# the arm, you could end up with a servo with a position 0 or 4095 at a crucial point
for name in self.arm.names:
if name != "gripper":
self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
# Use 'position control current based' for gripper to be limited by the limit of the current.
# For the follower gripper, it means it can grasp an object without forcing too much even tho,
# its goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
# For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
# to make it move, and it will move back to its original target position when we release the force.
self.arm.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
# Use 'position control current based' for gripper to be limited by the limit of the current. For
# the follower gripper, it means it can grasp an object without forcing too much even tho, its
# goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
# For the leader gripper, it means we can use it as a physical trigger, since we can force with
# our finger to make it move, and it will move back to its original target position when we
# release the force.
self.arm.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
# Set better PID values to close the gap between recorded states and actions
# TODO(rcadene): Implement an automatic procedure to set optimal PID values for each motor
self.arm.write("Position_P_Gain", "elbow_flex", 1500)
self.arm.write("Position_I_Gain", "elbow_flex", 0)
self.arm.write("Position_D_Gain", "elbow_flex", 600)
self.arm.enable_torque()
# Set better PID values to close the gap between recorded states and actions
# TODO(rcadene): Implement an automatic procedure to set optimal PID values for each motor
self.arm.write("Position_P_Gain", "elbow_flex", 1500)
self.arm.write("Position_I_Gain", "elbow_flex", 0)
self.arm.write("Position_D_Gain", "elbow_flex", 600)
def get_observation(self) -> dict[str, Any]:
if not self.is_connected: