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Add setup_motors for lekiwi

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Simon Alibert
2025-05-15 11:46:41 +02:00
parent b0592d9bc8
commit 51efe6dfee
1 changed files with 7 additions and 0 deletions
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7
lerobot/common/robots/lekiwi/lekiwi.py
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@@ -16,6 +16,7 @@
import logging import logging
import time import time
from itertools import chain
from typing import Any from typing import Any
from lerobot.common.cameras.utils import make_cameras_from_configs from lerobot.common.cameras.utils import make_cameras_from_configs
@@ -183,6 +184,12 @@ class LeKiwi(Robot):
self.bus.enable_torque() self.bus.enable_torque()
def setup_motors(self) -> None:
for motor in chain(reversed(self.arm_motors), reversed(self.base_motors)):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
def get_observation(self) -> dict[str, Any]: def get_observation(self) -> dict[str, Any]:
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.") raise DeviceNotConnectedError(f"{self} is not connected.")