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fix unit tests

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This commit is contained in:
Remi Cadene
2024-10-24 10:26:25 +02:00
parent 2b558dfc0c
commit 5d64ba5da1
4 changed files with 59 additions and 40 deletions
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9
lerobot/common/robot_devices/robots/feetech_calibration.py
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@@ -126,6 +126,15 @@ def apply_offset(calib, offset):
return calib
def run_arm_auto_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
if robot_type == "so100":
return run_arm_auto_calibration_so100(arm, robot_type, arm_name, arm_type)
elif robot_type == "moss":
return run_arm_auto_calibration_moss(arm, robot_type, arm_name, arm_type)
else:
raise ValueError(robot_type)
def run_arm_auto_calibration_so100(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
"""All the offsets and magic numbers are hand tuned, and are unique to SO-100 follower arms"""
if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():

23
lerobot/common/robot_devices/robots/manipulator.py
View File

@@ -335,29 +335,17 @@ class ManipulatorRobot:
calibration = run_arm_calibration(arm, self.robot_type, name, arm_type)
elif self.robot_type in ["so100"]:
elif self.robot_type in ["so100", "moss"]:
from lerobot.common.robot_devices.robots.feetech_calibration import (
run_arm_auto_calibration_so100,
run_arm_auto_calibration,
run_arm_manual_calibration,
)
if arm_type == "leader":
# TODO(rcadene): better way to handle mocking + test run_arm_auto_calibration
if arm_type == "leader" or arm.mock:
calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
elif arm_type == "follower":
calibration = run_arm_auto_calibration_so100(arm, self.robot_type, name, arm_type)
else:
raise ValueError(arm_type)
elif self.robot_type in ["moss"]:
from lerobot.common.robot_devices.robots.feetech_calibration import (
run_arm_auto_calibration_moss,
run_arm_manual_calibration,
)
if arm_type == "leader":
calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
elif arm_type == "follower":
calibration = run_arm_auto_calibration_moss(arm, self.robot_type, name, arm_type)
calibration = run_arm_auto_calibration(arm, self.robot_type, name, arm_type)
else:
raise ValueError(arm_type)
@@ -482,7 +470,6 @@ class ManipulatorRobot:
# the motors. Note: this configuration is not in the official STS3215 Memory Table
self.follower_arms[name].write("Maximum_Acceleration", 254)
self.follower_arms[name].write("Acceleration", 254)
time.sleep(1)
def teleop_step(
self, record_data=False