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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
View File

@ -60,6 +60,17 @@ python lerobot/scripts/control_robot.py \
--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
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 \
--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