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

Move to middle

Browse Source
This commit is contained in:
Pepijn
2025-02-19 16:34:36 +01:00
parent 25a5b9ad0b
commit b5bc3d1a25
2 changed files with 4 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
lerobot/common/robot_devices/robots/configs.py
View File

@@ -429,7 +429,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
leader_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem58760431091",
port="/dev/tty.usbmodem585A0077581",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
@@ -446,7 +446,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
follower_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem585A0076891",
port="/dev/tty.usbmodem585A0080521",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
@@ -462,12 +462,6 @@ class So100RobotConfig(ManipulatorRobotConfig):
cameras: dict[str, CameraConfig] = field(
default_factory=lambda: {
"laptop": OpenCVCameraConfig(
camera_index=0,
fps=30,
width=640,
height=480,
),
"phone": OpenCVCameraConfig(
camera_index=1,
fps=30,

5
lerobot/common/robot_devices/robots/feetech_calibration.py
View File

@@ -118,10 +118,10 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
print("\nMove arm to homing position (zero)")
print("\nMove arm to homing position (middle)")
print(
"See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")
) # TODO(pepijn): replace with new instruction homing pos (all motors in zero) in tutorial
) # TODO(pepijn): replace with new instruction homing pos (all motors in middle) in tutorial
input("Press Enter to continue...")
start_positions = np.zeros(len(arm.motor_indices))
@@ -147,7 +147,6 @@ 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. 1 = clockwise = positive range (0..180), 0 = clockwise = negative range (0..-180)
#
drive_modes = [0, 1, 0, 0, 1, 0]
calib_dict = {