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

Caps dxl OperatingMode

Browse Source
This commit is contained in:
Simon Alibert
2025-03-23 19:42:21 +01:00
parent 25388d0947
commit 7582a0a2b0
3 changed files with 9 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
lerobot/common/teleoperators/koch/teleop_koch.py
View File

@@ -84,14 +84,14 @@ class KochTeleop(Teleoperator):
# can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while
# assembling the arm, you could end up with a servo with a position 0 or 4095 at a crucial
# point
self.arm.write("Operating_Mode", name, OperatingMode.Extended_Position.value)
self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
# Use 'position control current based' for gripper to be limited by the limit of the current.
# For the follower gripper, it means it can grasp an object without forcing too much even tho,
# its goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
# For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
# to make it move, and it will move back to its original target position when we release the force.
self.arm.write("Operating_Mode", "gripper", OperatingMode.Current_Position.value)
self.arm.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
for name in self.arm.names:
self.arm.write("Torque_Enable", name, TorqueMode.ENABLED.value)