tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Arm fixes and add config

Browse Source
This commit is contained in:
Simon Alibert
2025-05-27 12:46:07 +02:00
parent dfa96b4258
commit 6b4d465595
1 changed files with 9 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
lerobot/common/robots/hope_jr/hope_jr_arm.py
View File

@@ -100,7 +100,7 @@ class HopeJrArm(Robot):
if self.is_connected: if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected") raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect() self.bus.connect(handshake=False)
if not self.is_calibrated: if not self.is_calibrated:
self.calibrate() self.calibrate()
@@ -121,21 +121,20 @@ class HopeJrArm(Robot):
for motor in self.bus.motors: for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value) self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
full_turn_motor = self.shoulder_pitch
unknown_range_motors = self.other_motors unknown_range_motors = self.other_motors
input("Move arm to the middle of its range of motion and press ENTER....") input("Move arm to the middle of its range of motion and press ENTER....")
homing_offsets_full_turn = self.bus.set_half_turn_homings(full_turn_motor) homing_offsets_full_turn = self.bus.set_half_turn_homings(self.shoulder_pitch)
homing_offsets_unknown_range = self.bus.set_half_turn_homings(unknown_range_motors) homing_offsets_unknown_range = self.bus.set_half_turn_homings(unknown_range_motors)
homing_offsets = {**homing_offsets_full_turn, **homing_offsets_unknown_range} homing_offsets = {**homing_offsets_full_turn, **homing_offsets_unknown_range}
logger.info( logger.info(
f"Move all joints except '{full_turn_motor}' sequentially through their " f"Move all joints except '{self.shoulder_pitch}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..." "entire ranges of motion.\nRecording positions. Press ENTER to stop..."
) )
range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors) range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
range_mins[full_turn_motor] = 0 range_mins[self.shoulder_pitch] = 1024
range_maxes[full_turn_motor] = 4095 range_maxes[self.shoulder_pitch] = 3071
self.calibration = {} self.calibration = {}
for motor, m in self.bus.motors.items(): for motor, m in self.bus.motors.items():
@@ -153,8 +152,10 @@ class HopeJrArm(Robot):
def configure(self) -> None: def configure(self) -> None:
with self.bus.torque_disabled(): with self.bus.torque_disabled():
self.bus.configure_motors() for motor in self.bus.motors:
# TODO self.bus.write("Return_Delay_Time", motor, 0)
self.bus.write("Maximum_Acceleration", motor, 50)
self.bus.write("Acceleration", motor, 50)
def setup_motors(self) -> None: def setup_motors(self) -> None:
for motor in reversed(self.bus.motors): for motor in reversed(self.bus.motors):