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Add information to use force feedback

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shantanu-tr 2025-04-03 15:09:53 -05:00
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11
examples/12_use_trossen_ai.md
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@ -60,6 +60,17 @@ python lerobot/scripts/control_robot.py \
--control.type=teleoperate --control.type=teleoperate
``` ```
By adding `--robot.force_feedback_gain=0.1`, we override the default value for `force_feedback_gain` defined in [`TrossenAIBimanualRobot`](lerobot/common/robot_devices/robots/configs.py). This enables **force feedback** from the follower arm to the leader arm — meaning the user can **feel contact forces** when the robot interacts with external objects (e.g., gripping or bumping into something). A typical starting value is `0.1` for a responsive feel. You can disable this behavior entirely by setting `--robot.force_feedback_gain=0.0` in the command line:
```bash
python lerobot/scripts/control_robot.py \
--robot.type=trossen_ai_stationary \
--robot.max_relative_target=null \
--robot.force_feedback_gain=0.0 \
--control.type=teleoperate
```
This parameter can be used in both teleoperate and record modes, depending on whether you want the operator to feel contact feedback during data collection.
## Record a dataset ## Record a dataset
Once you're familiar with teleoperation, you can record your first dataset with Trossen AI. Once you're familiar with teleoperation, you can record your first dataset with Trossen AI.

10
examples/13_use_trossen_ai_mobile.md
View File

@ -60,6 +60,16 @@ python lerobot/scripts/control_robot.py \
--robot.max_relative_target=null \ --robot.max_relative_target=null \
--control.type=teleoperate --control.type=teleoperate
``` ```
By adding `--robot.force_feedback_gain=0.1`, we override the default value for `force_feedback_gain` defined in [`TrossenAIBimanualRobot`](lerobot/common/robot_devices/robots/configs.py). This enables **force feedback** from the follower arm to the leader arm — meaning the user can **feel contact forces** when the robot interacts with external objects (e.g., gripping or bumping into something). A typical starting value is `0.1` for a responsive feel. You can disable this behavior entirely by setting `--robot.force_feedback_gain=0.0` in the command line:
```bash
python lerobot/scripts/control_robot.py \
--robot.type=trossen_ai_stationary \
--robot.max_relative_target=null \
--robot.force_feedback_gain=0.0 \
--control.type=teleoperate
```
This parameter can be used in both teleoperate and record modes, depending on whether you want the operator to feel contact feedback during data collection.
## Record a dataset ## Record a dataset