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Fix autocalib moss (#486)

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Remi 2024-10-26 12:15:17 +02:00 committed by GitHub
parent 07e8716315
commit 55e4ff6742
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GPG Key ID: B5690EEEBB952194
1 changed files with 5 additions and 6 deletions
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11
lerobot/common/robot_devices/robots/feetech_calibration.py
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@ -64,7 +64,7 @@ def move_until_block(arm, motor_name, positive_direction=True, while_move_hook=N
# print(f"{present_voltage=}") # print(f"{present_voltage=}")
# print(f"{present_temperature=}") # print(f"{present_temperature=}")
if present_speed == 0 and present_current > 50: if present_speed == 0 and present_current > 40:
count += 1 count += 1
if count > 100 or present_current > 300: if count > 100 or present_current > 300:
return present_pos return present_pos
@ -306,16 +306,16 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str
calib = {} calib = {}
print("Calibrate shoulder_pan") print("Calibrate shoulder_pan")
calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan", load_threshold=350, count_threshold=200) calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan")
arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan") arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
time.sleep(1) time.sleep(1)
print("Calibrate gripper") print("Calibrate gripper")
calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True, count_threshold=200) calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True)
time.sleep(1) time.sleep(1)
print("Calibrate wrist_flex") print("Calibrate wrist_flex")
calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True, count_threshold=200) calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True)
calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=-210 + 1024) calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=-210 + 1024)
wr_pos = arm.read("Present_Position", "wrist_roll") wr_pos = arm.read("Present_Position", "wrist_roll")
@ -329,7 +329,7 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str
time.sleep(1) time.sleep(1)
print("Calibrate wrist_roll") print("Calibrate wrist_roll")
calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True, count_threshold=200) calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True)
calib["wrist_roll"] = apply_offset(calib["wrist_roll"], offset=790) calib["wrist_roll"] = apply_offset(calib["wrist_roll"], offset=790)
arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"] - 1024, "wrist_roll") arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"] - 1024, "wrist_roll")
@ -348,7 +348,6 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str
arm, arm,
"elbow_flex", "elbow_flex",
invert_drive_mode=True, invert_drive_mode=True,
count_threshold=200,
in_between_move_hook=in_between_move_elbow_flex_hook, in_between_move_hook=in_between_move_elbow_flex_hook,
) )
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex") arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")