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

Remove names

Browse Source
This commit is contained in:
Simon Alibert
2025-04-18 09:48:16 +02:00
parent 21b1026872
commit b6b9635be6
11 changed files with 142 additions and 146 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
lerobot/common/robots/koch/koch_follower.py
View File

@@ -114,31 +114,31 @@ class KochFollower(Robot):
def calibrate(self) -> None:
logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque()
for name in self.arm.names:
self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
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"]
unknown_range_motors = [name for name in self.arm.names if name not in full_turn_motors]
unknown_range_motors = [motor for motor in self.arm.motors if motor not in full_turn_motors]
print(
f"Move all joints except {full_turn_motors} sequentially through their entire "
"ranges of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.arm.record_ranges_of_motion(unknown_range_motors)
for name in full_turn_motors:
range_mins[name] = 0
range_maxes[name] = 4095
for motor in full_turn_motors:
range_mins[motor] = 0
range_maxes[motor] = 4095
self.calibration = {}
for name, motor in self.arm.motors.items():
self.calibration[name] = MotorCalibration(
id=motor.id,
for motor, m in self.arm.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=0,
homing_offset=homing_offsets[name],
range_min=range_mins[name],
range_max=range_maxes[name],
homing_offset=homing_offsets[motor],
range_min=range_mins[motor],
range_max=range_maxes[motor],
)
self.arm.write_calibration(self.calibration)
@@ -151,9 +151,9 @@ class KochFollower(Robot):
# Use 'extended position mode' for all motors except gripper, because in joint mode the servos
# 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
for name in self.arm.names:
if name != "gripper":
self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
for motor in self.arm.motors:
if motor != "gripper":
self.arm.write("Operating_Mode", motor, 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