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remove init_robot(robot)

This commit is contained in:
Remi Cadene 2024-07-31 17:02:47 +02:00
parent 69f2b1958b
commit 8fa017108f
1 changed files with 6 additions and 13 deletions
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19
lerobot/common/robot_devices/robots/koch.py
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@ -64,18 +64,6 @@ def get_rest_position(robot_type):
return ALOHA_REST_POSITION return ALOHA_REST_POSITION
def init_robot(robot):
if robot.robot_type == "koch":
# Enable torque on the gripper of the leader arms, and move it to 45 degrees,
# so that we can use it as a trigger to close the gripper of the follower arms.
for name in robot.leader_arms:
robot.leader_arms[name].write("Torque_Enable", 1, "gripper")
robot.leader_arms[name].write("Goal_Position", KOCH_GRIPPER_OPEN, "gripper")
elif robot.robot_type == "aloha":
raise NotImplementedError()
def assert_drive_mode(drive_mode): def assert_drive_mode(drive_mode):
# `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted. # `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted.
if not np.all(np.isin(drive_mode, [0, 1])): if not np.all(np.isin(drive_mode, [0, 1])):
@ -367,7 +355,12 @@ class KochRobot:
for name in self.follower_arms: for name in self.follower_arms:
self.follower_arms[name].write("Torque_Enable", 1) self.follower_arms[name].write("Torque_Enable", 1)
init_robot(self) if self.robot_type == "koch":
# Enable torque on the gripper of the leader arms, and move it to 45 degrees,
# so that we can use it as a trigger to close the gripper of the follower arms.
for name in self.leader_arms:
self.leader_arms[name].write("Torque_Enable", 1, "gripper")
self.leader_arms[name].write("Goal_Position", KOCH_GRIPPER_OPEN, "gripper")
# Connect the cameras # Connect the cameras
for name in self.cameras: for name in self.cameras: