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Add safety to calibration

This commit is contained in:
Remi Cadene 2024-07-29 23:43:33 +02:00
parent ae175817be
commit e1d7330613
1 changed files with 4 additions and 0 deletions
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4
lerobot/common/robot_devices/robots/koch.py
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@ -179,6 +179,10 @@ def run_arm_calibration(arm: MotorsBus, name: str, arm_type: str):
homing_offset[i] = -homing_offset[i] homing_offset[i] = -homing_offset[i]
print("Calibration is done!") 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("=====================================")
print(" HOMING_OFFSET: ", " ".join([str(i) for i in homing_offset])) print(" HOMING_OFFSET: ", " ".join([str(i) for i in homing_offset]))