From a6ee2812cd5a8fe340fc16930299291c2381b681 Mon Sep 17 00:00:00 2001 From: shantanuparab-tr Date: Fri, 14 Mar 2025 12:29:50 -0500 Subject: [PATCH] Minor Fixes (#9) --- lerobot/common/robot_devices/motors/trossen_arm_driver.py | 2 +- lerobot/common/robot_devices/robots/configs.py | 2 +- lerobot/common/robot_devices/robots/manipulator.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/lerobot/common/robot_devices/motors/trossen_arm_driver.py b/lerobot/common/robot_devices/motors/trossen_arm_driver.py index 53e90ae4..cec5267b 100644 --- a/lerobot/common/robot_devices/motors/trossen_arm_driver.py +++ b/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}...") diff --git a/lerobot/common/robot_devices/robots/configs.py b/lerobot/common/robot_devices/robots/configs.py index 4ead591a..c055a9c4 100644 --- a/lerobot/common/robot_devices/robots/configs.py +++ b/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, diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py index fa949965..cf788de8 100644 --- a/lerobot/common/robot_devices/robots/manipulator.py +++ b/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)