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Disable torque before applying calibration logic (#1889)

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This commit is contained in:
Steven Gong
2025-09-08 02:38:13 -07:00
committed by GitHub
parent 6a3d57031a
commit 49baccdccb
2 changed files with 2 additions and 2 deletions
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2
src/lerobot/robots/koch_follower/koch_follower.py
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@@ -110,6 +110,7 @@ class KochFollower(Robot):
return self.bus.is_calibrated return self.bus.is_calibrated
def calibrate(self) -> None: def calibrate(self) -> None:
self.bus.disable_torque()
if self.calibration: if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration # Calibration file exists, ask user whether to use it or run new calibration
user_input = input( user_input = input(
@@ -120,7 +121,6 @@ class KochFollower(Robot):
self.bus.write_calibration(self.calibration) self.bus.write_calibration(self.calibration)
return return
logger.info(f"\nRunning calibration of {self}") logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors: for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value) self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)

2
src/lerobot/teleoperators/koch_leader/koch_leader.py
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@@ -88,6 +88,7 @@ class KochLeader(Teleoperator):
return self.bus.is_calibrated return self.bus.is_calibrated
def calibrate(self) -> None: def calibrate(self) -> None:
self.bus.disable_torque()
if self.calibration: if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration # Calibration file exists, ask user whether to use it or run new calibration
user_input = input( user_input = input(
@@ -98,7 +99,6 @@ class KochLeader(Teleoperator):
self.bus.write_calibration(self.calibration) self.bus.write_calibration(self.calibration)
return return
logger.info(f"\nRunning calibration of {self}") logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors: for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value) self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)