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With multi turn (code is good, but feetech can't handle multi turn commands)

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Pepijn
2025-02-19 14:51:01 +01:00
parent 18ae1b802d
commit 645bfd78d8
3 changed files with 44 additions and 49 deletions
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lerobot/common/robot_devices/robots/feetech_calibration.py
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@@ -147,7 +147,7 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!")
# Force drive_mode values: motors 2 and 5 -> drive_mode 1; all others -> 0.
drive_modes = [0, 1, 0, 0, 1, 0]
drive_modes = [0, 0, 0, 0, 0, 0]
calib_dict = {
"homing_offset": encoder_offsets.astype(int).tolist(),