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Add mobile so100 (#724)

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This commit is contained in:
Pepijn
2025-02-25 09:06:50 +01:00
committed by GitHub
parent fe483b1d0d
commit aca464ca72
14 changed files with 1495 additions and 7 deletions
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6
lerobot/common/robot_devices/robots/manipulator.py
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@@ -229,7 +229,7 @@ class ManipulatorRobot:
if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
from lerobot.common.robot_devices.motors.dynamixel import TorqueMode
elif self.robot_type in ["so100", "moss"]:
elif self.robot_type in ["so100", "moss", "lekiwi"]:
from lerobot.common.robot_devices.motors.feetech import TorqueMode
# We assume that at connection time, arms are in a rest position, and torque can
@@ -246,7 +246,7 @@ class ManipulatorRobot:
self.set_koch_robot_preset()
elif self.robot_type == "aloha":
self.set_aloha_robot_preset()
elif self.robot_type in ["so100", "moss"]:
elif self.robot_type in ["so100", "moss", "lekiwi"]:
self.set_so100_robot_preset()
# Enable torque on all motors of the follower arms
@@ -299,7 +299,7 @@ class ManipulatorRobot:
calibration = run_arm_calibration(arm, self.robot_type, name, arm_type)
elif self.robot_type in ["so100", "moss"]:
elif self.robot_type in ["so100", "moss", "lekiwi"]:
from lerobot.common.robot_devices.robots.feetech_calibration import (
run_arm_manual_calibration,
)