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Rename set_operating_mode arg

This commit is contained in:
Simon Alibert 2025-03-15 13:14:29 +01:00
parent 2037cc0219
commit fa8ba9e4e2
1 changed files with 5 additions and 5 deletions
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10
lerobot/common/motors/dynamixel/dynamixel.py
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@ -625,18 +625,18 @@ class DynamixelMotorsBus(MotorsBus):
)
def set_operating_mode(arm: DynamixelMotorsBus):
if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
def set_operating_mode(bus: DynamixelMotorsBus):
if (bus.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
raise ValueError("To run set robot preset, the torque must be disabled on all motors.")
# Use 'extended position mode' for all motors except gripper, because in joint mode the servos can't
# rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while assembling the arm,
# you could end up with a servo with a position 0 or 4095 at a crucial point See [
# https://emanual.robotis.com/docs/en/dxl/x/x_series/#operating-mode11]
all_motors_except_gripper = [name for name in arm.motor_names if name != "gripper"]
all_motors_except_gripper = [name for name in bus.motor_names if name != "gripper"]
if len(all_motors_except_gripper) > 0:
# 4 corresponds to Extended Position on Koch motors
arm.write("Operating_Mode", 4, all_motors_except_gripper)
bus.write("Operating_Mode", 4, all_motors_except_gripper)
# Use 'position control current based' for gripper to be limited by the limit of the current.
# For the follower gripper, it means it can grasp an object without forcing too much even tho,
@ -644,4 +644,4 @@ def set_operating_mode(arm: DynamixelMotorsBus):
# For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
# to make it move, and it will move back to its original target position when we release the force.
# 5 corresponds to Current Controlled Position on Koch gripper motors "xl330-m077, xl330-m288"
arm.write("Operating_Mode", 5, "gripper")
bus.write("Operating_Mode", 5, "gripper")