From e1d733061336440b92b1792bba10385fd791d404 Mon Sep 17 00:00:00 2001 From: Remi Cadene Date: Mon, 29 Jul 2024 23:43:33 +0200 Subject: [PATCH] Add safety to calibration --- lerobot/common/robot_devices/robots/koch.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/lerobot/common/robot_devices/robots/koch.py b/lerobot/common/robot_devices/robots/koch.py index 5a163613..a3cb1920 100644 --- a/lerobot/common/robot_devices/robots/koch.py +++ b/lerobot/common/robot_devices/robots/koch.py @@ -179,6 +179,10 @@ def run_arm_calibration(arm: MotorsBus, name: str, arm_type: str): homing_offset[i] = -homing_offset[i] print("Calibration is done!") + print( + rf"/!\ Please move the '{name} {arm_type}' arm to a safe rest position (same for all arms to avoid jumps during teleoperation)." + ) + input("Press Enter to continue...") print("=====================================") print(" HOMING_OFFSET: ", " ".join([str(i) for i in homing_offset]))