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lerobot
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fix(robots): make sure message is display in calibrate() method lekiwi

This commit is contained in:
Steven Palma 2025-04-04 16:16:35 +02:00
parent 2a8ab54774
commit 9c5262ae74
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2 changed files with 5 additions and 2 deletions
lerobot/common
constants.py
robots/lekiwi
lekiwi.py

2
lerobot/common/constants.py
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@ -48,5 +48,5 @@ default_cache_path = Path(HF_HOME) / "lerobot"
HF_LEROBOT_HOME = Path(os.getenv("HF_LEROBOT_HOME", default_cache_path)).expanduser() HF_LEROBOT_HOME = Path(os.getenv("HF_LEROBOT_HOME", default_cache_path)).expanduser()
# calibration dir # calibration dir
default_calibration_path = HF_LEROBOT_HOME / ".calibration" default_calibration_path = HF_LEROBOT_HOME / "calibration"
HF_LEROBOT_CALIBRATION = Path(os.getenv("HF_LEROBOT_CALIBRATION", default_calibration_path)).expanduser() HF_LEROBOT_CALIBRATION = Path(os.getenv("HF_LEROBOT_CALIBRATION", default_calibration_path)).expanduser()

5
lerobot/common/robots/lekiwi/lekiwi.py
View File

@ -116,6 +116,9 @@ class LeKiwi(Robot):
def is_calibrated(self) -> bool: def is_calibrated(self) -> bool:
return self.bus.is_calibrated return self.bus.is_calibrated
# TODO(Steven): I think we should extend this to give the user the option of re-calibrate
# calibrate(recalibrate: bool = False) -> None:
# If true, then we overwrite the previous calibration file with new values
def calibrate(self) -> None: def calibrate(self) -> None:
logger.info(f"\nRunning calibration of {self}") logger.info(f"\nRunning calibration of {self}")
@ -133,7 +136,7 @@ class LeKiwi(Robot):
] ]
unknown_range_motors = [motor for motor in motors if motor not in full_turn_motor] unknown_range_motors = [motor for motor in motors if motor not in full_turn_motor]
logger.info( print(
f"Move all arm joints except '{full_turn_motor}' sequentially through their " f"Move all arm joints except '{full_turn_motor}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..." "entire ranges of motion.\nRecording positions. Press ENTER to stop..."
) )