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Remove set_operating_mode

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This commit is contained in:
Simon Alibert
2025-03-20 14:47:17 +01:00
parent 17a4447cef
commit 375499c323
2 changed files with 32 additions and 4 deletions
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18
lerobot/common/robots/koch/robot_koch.py
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@@ -27,7 +27,6 @@ from lerobot.common.motors import TorqueMode
from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus,
run_arm_calibration,
set_operating_mode,
)
from ..robot import Robot
@@ -103,7 +102,22 @@ class KochRobot(Robot):
self.arm.write("Torque_Enable", TorqueMode.DISABLED.value)
self.calibrate()
set_operating_mode(self.arm)
# 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 See [
# https://emanual.robotis.com/docs/en/dxl/x/x_series/#operating-mode11]
all_motors_except_gripper = [name for name in self.arm.motor_names if name != "gripper"]
if len(all_motors_except_gripper) > 0:
# 4 corresponds to Extended Position on Koch motors
self.arm.write("Operating_Mode", 4, all_motors_except_gripper)
# 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,
# it's 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.
# 5 corresponds to Current Controlled Position on Koch gripper motors "xl330-m077, xl330-m288"
self.arm.write("Operating_Mode", 5, "gripper")
# 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

18
lerobot/common/teleoperators/koch/teleop_koch.py
View File

@@ -25,7 +25,6 @@ from lerobot.common.motors import TorqueMode
from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus,
run_arm_calibration,
set_operating_mode,
)
from ..teleoperator import Teleoperator
@@ -88,7 +87,22 @@ class KochTeleop(Teleoperator):
self.arm.write("Torque_Enable", TorqueMode.DISABLED.value)
self.calibrate()
set_operating_mode(self.arm)
# 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 See [
# https://emanual.robotis.com/docs/en/dxl/x/x_series/#operating-mode11]
all_motors_except_gripper = [name for name in self.arm.motor_names if name != "gripper"]
if len(all_motors_except_gripper) > 0:
# 4 corresponds to Extended Position on Koch motors
self.arm.write("Operating_Mode", 4, all_motors_except_gripper)
# 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,
# it's 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.
# 5 corresponds to Current Controlled Position on Koch gripper motors "xl330-m077, xl330-m288"
self.arm.write("Operating_Mode", 5, "gripper")
# Enable torque on the gripper and move it to 45 degrees so that we can use it as a trigger.
logging.info("Activating torque.")