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Adding safe home pose and gracefull shutdown (#21) 

Graceful Shutdown
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shantanuparab-tr 2025-04-03 11:54:52 -05:00 committed by GitHub
parent f38130d9a4
commit 9c44e8da8f
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1 changed files with 7 additions and 3 deletions
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10
lerobot/common/robot_devices/motors/trossen_arm_driver.py
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@ -76,7 +76,7 @@ class TrossenArmDriver:
self.is_connected = False self.is_connected = False
self.logs = {} self.logs = {}
self.fps = 30 self.fps = 30
self.home_pose = [0, np.pi/12, np.pi/12, 0, 0, 0, 0] self.home_pose = [0, np.pi/3, np.pi/6, np.pi/5, 0, 0, 0]
self.sleep_pose = [0, 0, 0, 0, 0, 0, 0] self.sleep_pose = [0, 0, 0, 0, 0, 0, 0]
self.motors={ self.motors={
@ -242,8 +242,10 @@ class TrossenArmDriver:
self.driver.set_all_modes(trossen.Mode.position) self.driver.set_all_modes(trossen.Mode.position)
else: else:
self.driver.set_all_modes(trossen.Mode.external_effort) self.driver.set_all_modes(trossen.Mode.external_effort)
self.driver.set_all_external_efforts([0.0] * 7, 0.0, True) self.driver.set_all_external_efforts([0.0] * self.driver.get_num_joints(), 0.0, True)
elif data_name == "Reset": elif data_name == "Reset":
self.driver.set_all_modes(trossen.Mode.velocity)
self.driver.set_all_velocities([0.0] * self.driver.get_num_joints(), 0.0, False)
self.driver.set_all_modes(trossen.Mode.position) self.driver.set_all_modes(trossen.Mode.position)
self.driver.set_all_positions(self.home_pose, 2.0, False) self.driver.set_all_positions(self.home_pose, 2.0, False)
else: else:
@ -256,8 +258,10 @@ class TrossenArmDriver:
raise RobotDeviceNotConnectedError( raise RobotDeviceNotConnectedError(
f"TrossenArmDriver ({self.ip}) is not connected. Try running `motors_bus.connect()` first." f"TrossenArmDriver ({self.ip}) is not connected. Try running `motors_bus.connect()` first."
) )
self.driver.set_all_modes(trossen.Mode.velocity)
self.driver.set_all_velocities([0.0] * self.driver.get_num_joints(), 0.0, False)
self.driver.set_all_modes(trossen.Mode.position) self.driver.set_all_modes(trossen.Mode.position)
self.driver.set_all_positions(self.home_pose, 2.0, False) self.driver.set_all_positions(self.home_pose, 2.0, True)
self.driver.set_all_positions(self.sleep_pose, 2.0, False) self.driver.set_all_positions(self.sleep_pose, 2.0, False)
self.is_connected = False self.is_connected = False