From 897bfe588ad2e00f1adc2421c054d2067a16b770 Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Mon, 10 Mar 2025 19:28:24 +0100
Subject: [PATCH] post-merge fix
---
lerobot/common/motors/feetech/feetech.py | 37 -------------------
.../teleoperators/so100/teleop_so100.py | 5 ---
2 files changed, 42 deletions(-)
diff --git a/lerobot/common/motors/feetech/feetech.py b/lerobot/common/motors/feetech/feetech.py
index a46b6695..93067b87 100644
--- a/lerobot/common/motors/feetech/feetech.py
+++ b/lerobot/common/motors/feetech/feetech.py
@@ -508,43 +508,6 @@ class FeetechMotorsBus:
values = np.round(values).astype(np.int32)
return values
- def avoid_rotation_reset(self, values, motor_names, data_name):
- if data_name not in self.track_positions:
- self.track_positions[data_name] = {
- "prev": [None] * len(self.motor_names),
- # Assume False at initialization
- "below_zero": [False] * len(self.motor_names),
- "above_max": [False] * len(self.motor_names),
- }
-
- track = self.track_positions[data_name]
-
- if motor_names is None:
- motor_names = self.motor_names
-
- for i, name in enumerate(motor_names):
- idx = self.motor_names.index(name)
-
- if track["prev"][idx] is None:
- track["prev"][idx] = values[i]
- continue
-
- # Detect a full rotation occurred
- if abs(track["prev"][idx] - values[i]) > 2048:
- # Position went below 0 and got reset to 4095
- if track["prev"][idx] < values[i]:
- # So we set negative value by adding a full rotation
- values[i] -= 4096
-
- # Position went above 4095 and got reset to 0
- elif track["prev"][idx] > values[i]:
- # So we add a full rotation
- values[i] += 4096
-
- track["prev"][idx] = values[i]
-
- return values
-
def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
if self.mock:
import tests.mock_scservo_sdk as scs
diff --git a/lerobot/common/teleoperators/so100/teleop_so100.py b/lerobot/common/teleoperators/so100/teleop_so100.py
index 326d6cc9..120a7a60 100644
--- a/lerobot/common/teleoperators/so100/teleop_so100.py
+++ b/lerobot/common/teleoperators/so100/teleop_so100.py
@@ -86,11 +86,6 @@ class SO100Teleop(Teleoperator):
self.arm.write("Torque_Enable", TorqueMode.DISABLED.value)
self.calibrate()
- # Enable torque on the gripper and move it to 45 degrees so that we can use it as a trigger.
- logging.info("Activating torque.")
- self.arm.write("Torque_Enable", TorqueMode.ENABLED.value, "gripper")
- self.arm.write("Goal_Position", self.config.gripper_open_degree, "gripper")
-
# Check arm can be read
self.arm.read("Present_Position")