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fix(robot): change Mode to Operating_Mode in configure write for lekiwi

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Steven Palma 2025-04-04 15:58:04 +02:00
parent 073b0278c2
commit 2a8ab54774
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1 changed files with 3 additions and 3 deletions
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lerobot/common/robots/lekiwi/lekiwi.py
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@ -121,7 +121,7 @@ class LeKiwi(Robot):
motors = self.arm_motors + self.base_motors motors = self.arm_motors + self.base_motors
self.bus.disable_torque(motors) self.bus.disable_torque(self.arm_motors)
for name in self.arm_motors: for name in self.arm_motors:
self.bus.write("Operating_Mode", name, OperatingMode.POSITION.value) self.bus.write("Operating_Mode", name, OperatingMode.POSITION.value)
@ -162,7 +162,7 @@ class LeKiwi(Robot):
# and torque can be safely disabled to run calibration. # and torque can be safely disabled to run calibration.
self.bus.disable_torque(self.arm_motors) self.bus.disable_torque(self.arm_motors)
for name in self.arm_motors: for name in self.arm_motors:
self.bus.write("Mode", name, OperatingMode.POSITION.value) self.bus.write("Operating_Mode", name, OperatingMode.POSITION.value)
# Set P_Coefficient to lower value to avoid shakiness (Default is 32) # Set P_Coefficient to lower value to avoid shakiness (Default is 32)
self.bus.write("P_Coefficient", name, 16) self.bus.write("P_Coefficient", name, 16)
# Set I_Coefficient and D_Coefficient to default value 0 and 32 # Set I_Coefficient and D_Coefficient to default value 0 and 32
@ -174,7 +174,7 @@ class LeKiwi(Robot):
self.bus.write("Acceleration", name, 254) self.bus.write("Acceleration", name, 254)
for name in self.base_motors: for name in self.base_motors:
self.bus.write("Mode", name, OperatingMode.VELOCITY.value) self.bus.write("Operating_Mode", name, OperatingMode.VELOCITY.value)
self.bus.enable_torque() self.bus.enable_torque()