From 9dd4414c6e1d32e4c61812819c7712bd40c9383d Mon Sep 17 00:00:00 2001 From: Remi Cadene Date: Sat, 26 Oct 2024 10:43:52 +0200 Subject: [PATCH] fix autocalib moss --- .../common/robot_devices/robots/feetech_calibration.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/lerobot/common/robot_devices/robots/feetech_calibration.py b/lerobot/common/robot_devices/robots/feetech_calibration.py index 1fca07f4..254216f9 100644 --- a/lerobot/common/robot_devices/robots/feetech_calibration.py +++ b/lerobot/common/robot_devices/robots/feetech_calibration.py @@ -306,16 +306,16 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str calib = {} print("Calibrate shoulder_pan") - calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan", load_threshold=350, count_threshold=200) + calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan") arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan") time.sleep(1) print("Calibrate gripper") - calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True, count_threshold=200) + calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True) time.sleep(1) print("Calibrate wrist_flex") - calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True, count_threshold=200) + calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True) calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=-210 + 1024) wr_pos = arm.read("Present_Position", "wrist_roll") @@ -329,7 +329,7 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str time.sleep(1) print("Calibrate wrist_roll") - calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True, count_threshold=200) + calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True) calib["wrist_roll"] = apply_offset(calib["wrist_roll"], offset=790) arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"] - 1024, "wrist_roll") @@ -348,7 +348,6 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str arm, "elbow_flex", invert_drive_mode=True, - count_threshold=200, in_between_move_hook=in_between_move_elbow_flex_hook, ) arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")