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Fix setup_motor & add it to robots

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Simon Alibert
2025-04-17 16:56:23 +02:00
parent bf1c737858
commit 702749b7d3
8 changed files with 51 additions and 11 deletions
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8
lerobot/common/teleoperators/koch/koch_leader.py
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@@ -97,7 +97,7 @@ class KochLeader(Teleoperator):
self.arm.write("Drive_Mode", "elbow_flex", DriveMode.INVERTED.value)
drive_modes = {name: 1 if name == "elbow_flex" else 0 for name in self.arm.names}
input("Move robot to the middle of its range of motion and press ENTER....")
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings()
full_turn_motors = ["shoulder_pan", "wrist_roll"]
@@ -146,6 +146,12 @@ class KochLeader(Teleoperator):
self.arm.enable_torque("gripper")
self.arm.write("Goal_Position", "gripper", self.config.gripper_open_pos)
def setup_motors(self) -> None:
for motor in reversed(self.arm.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
self.arm.setup_motor(motor)
print(f"'{motor}' motor id set to {self.arm.motors[motor].id}")
def get_action(self) -> dict[str, float]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")

8
lerobot/common/teleoperators/so100/so100_leader.py
View File

@@ -91,7 +91,7 @@ class SO100Leader(Teleoperator):
for name in self.arm.names:
self.arm.write("Operating_Mode", name, OperatingMode.POSITION.value)
input("Move robot to the middle of its range of motion and press ENTER....")
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings()
full_turn_motor = "wrist_roll"
@@ -124,6 +124,12 @@ class SO100Leader(Teleoperator):
for name in self.arm.names:
self.arm.write("Operating_Mode", name, OperatingMode.POSITION.value)
def setup_motors(self) -> None:
for motor in reversed(self.arm.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
self.arm.setup_motor(motor)
print(f"'{motor}' motor id set to {self.arm.motors[motor].id}")
def get_action(self) -> dict[str, float]:
start = time.perf_counter()
action = self.arm.sync_read("Present_Position")