Minor Fixes (#9)

lerobot/common/robot_devices/motors/trossen_arm_driver.py

@@ -98,7 +98,7 @@ class TrossenArmDriver:
         self.TIME_SCALING_FACTOR = 3.0
 
         # Minimum time to move for the arm (This is a tuning parameter)
-        self.MIN_TIME_TO_MOVE = 3.0 / self.fps
+        self.MIN_TIME_TO_MOVE = 6.0 / self.fps
 
     def connect(self):
         print(f"Connecting to {self.model} arm at {self.ip}...")

lerobot/common/robot_devices/robots/configs.py

@@ -733,7 +733,7 @@ class TrossenAISoloRobotConfig(ManipulatorRobotConfig):
                 width=640,
                 height=480,
             ),
-            "cam_left_wrist": IntelRealSenseCameraConfig(
+            "cam_wrist": IntelRealSenseCameraConfig(
                 serial_number=218622274938,
                 fps=30,
                 width=640,

lerobot/common/robot_devices/robots/manipulator.py

@@ -160,7 +160,7 @@ class ManipulatorRobot:
     ):
         self.config = config
         self.robot_type = self.config.type
-        if not self.robot_type in ["trossen_ai_bimanual", "trosssen_ai_solo"]:
+        if not self.robot_type in ["trossen_ai_bimanual", "trossen_ai_solo"]:
             self.calibration_dir = Path(self.config.calibration_dir)
         self.leader_arms = make_motors_buses_from_configs(self.config.leader_arms)
         self.follower_arms = make_motors_buses_from_configs(self.config.follower_arms)