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lerobot
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Minor Fixes (#9)

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shantanuparab-tr 2025-03-14 12:29:50 -05:00 committed by Luke Schmitt
parent fb7004682e
commit a6ee2812cd
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3 changed files with 3 additions and 3 deletions
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2
lerobot/common/robot_devices/motors/trossen_arm_driver.py
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@ -98,7 +98,7 @@ class TrossenArmDriver:
self.TIME_SCALING_FACTOR = 3.0 self.TIME_SCALING_FACTOR = 3.0
# Minimum time to move for the arm (This is a tuning parameter) # 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): def connect(self):
print(f"Connecting to {self.model} arm at {self.ip}...") print(f"Connecting to {self.model} arm at {self.ip}...")

2
lerobot/common/robot_devices/robots/configs.py
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@ -733,7 +733,7 @@ class TrossenAISoloRobotConfig(ManipulatorRobotConfig):
width=640, width=640,
height=480, height=480,
), ),
"cam_left_wrist": IntelRealSenseCameraConfig( "cam_wrist": IntelRealSenseCameraConfig(
serial_number=218622274938, serial_number=218622274938,
fps=30, fps=30,
width=640, width=640,

2
lerobot/common/robot_devices/robots/manipulator.py
View File

@ -160,7 +160,7 @@ class ManipulatorRobot:
): ):
self.config = config self.config = config
self.robot_type = self.config.type 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.calibration_dir = Path(self.config.calibration_dir)
self.leader_arms = make_motors_buses_from_configs(self.config.leader_arms) self.leader_arms = make_motors_buses_from_configs(self.config.leader_arms)
self.follower_arms = make_motors_buses_from_configs(self.config.follower_arms) self.follower_arms = make_motors_buses_from_configs(self.config.follower_arms)