Caps dxl OperatingMode

lerobot/common/motors/dynamixel/dynamixel.py

@@ -37,27 +37,27 @@ class OperatingMode(Enum):
     # DYNAMIXEL only controls current(torque) regardless of speed and position. This mode is ideal for a
     # gripper or a system that only uses current(torque) control or a system that has additional
     # velocity/position controllers.
-    Current = 0
+    CURRENT = 0
 
     # This mode controls velocity. This mode is identical to the Wheel Mode(endless) from existing DYNAMIXEL.
     # This mode is ideal for wheel-type robots.
-    Velocity = 1
+    VELOCITY = 1
 
     # This mode controls position. This mode is identical to the Joint Mode from existing DYNAMIXEL. Operating
     # position range is limited by the Max Position Limit(48) and the Min Position Limit(52). This mode is
     # ideal for articulated robots that each joint rotates less than 360 degrees.
-    Position = 3
+    POSITION = 3
 
     # This mode controls position. This mode is identical to the Multi-turn Position Control from existing
     # DYNAMIXEL. 512 turns are supported(-256[rev] ~ 256[rev]). This mode is ideal for multi-turn wrists or
     # conveyer systems or a system that requires an additional reduction gear. Note that Max Position
     # Limit(48), Min Position Limit(52) are not used on Extended Position Control Mode.
-    Extended_Position = 4
+    EXTENDED_POSITION = 4
 
     # This mode controls both position and current(torque). Up to 512 turns are supported (-256[rev] ~
     # 256[rev]). This mode is ideal for a system that requires both position and current control such as
     # articulated robots or grippers.
-    Current_Position = 5
+    CURRENT_POSITION = 5
 
     # This mode directly controls PWM output. (Voltage Control Mode)
     PWM = 16

lerobot/common/robots/koch/robot_koch.py

@@ -99,14 +99,14 @@ class KochRobot(Robot):
                 # can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while
                 # assembling the arm, you could end up with a servo with a position 0 or 4095 at a crucial
                 # point
-                self.arm.write("Operating_Mode", name, OperatingMode.Extended_Position.value)
+                self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
 
         # Use 'position control current based' for gripper to be limited by the limit of the current.
         # For the follower gripper, it means it can grasp an object without forcing too much even tho,
         # its goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
         # For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
         # to make it move, and it will move back to its original target position when we release the force.
-        self.arm.write("Operating_Mode", "gripper", OperatingMode.Current_Position.value)
+        self.arm.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
 
         # Set better PID values to close the gap between recorded states and actions
         # TODO(rcadene): Implement an automatic procedure to set optimal PID values for each motor

lerobot/common/teleoperators/koch/teleop_koch.py

@@ -84,14 +84,14 @@ class KochTeleop(Teleoperator):
                 # can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while
                 # assembling the arm, you could end up with a servo with a position 0 or 4095 at a crucial
                 # point
-                self.arm.write("Operating_Mode", name, OperatingMode.Extended_Position.value)
+                self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
 
         # Use 'position control current based' for gripper to be limited by the limit of the current.
         # For the follower gripper, it means it can grasp an object without forcing too much even tho,
         # its goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
         # For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
         # to make it move, and it will move back to its original target position when we release the force.
-        self.arm.write("Operating_Mode", "gripper", OperatingMode.Current_Position.value)
+        self.arm.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
 
         for name in self.arm.names:
             self.arm.write("Torque_Enable", name, TorqueMode.ENABLED.value)