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add disable torque

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This commit is contained in:
croissant
2025-11-04 09:44:25 +01:00
committed by Michel Aractingi
parent 6808a42455
commit 01c1735739
5 changed files with 98 additions and 29 deletions
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src/lerobot/robots/openarms/openarms_follower.py
+5 -6
View File
@@ -114,16 +114,12 @@ class OpenArmsFollower(Robot):
def _motors_ft(self) -> Dict[str, type]:
"""Motor features for observation and action spaces."""
features = {}
# Right arm motors
# Right arm motors - only positions stored in dataset
for motor in self.bus_right.motors:
features[f"right_{motor}.pos"] = float
features[f"right_{motor}.vel"] = float
features[f"right_{motor}.torque"] = float
# Left arm motors
# Left arm motors - only positions stored in dataset
for motor in self.bus_left.motors:
features[f"left_{motor}.pos"] = float
features[f"left_{motor}.vel"] = float
features[f"left_{motor}.torque"] = float
return features
@property
@@ -301,6 +297,9 @@ class OpenArmsFollower(Robot):
OPTIMIZED: Reads all motor states (pos/vel/torque) in one CAN refresh cycle
instead of 3 separate reads.
Note: Velocity and torque are read but not stored in dataset (only used for
internal calculations). Only positions and camera images are stored.
"""
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
src/lerobot/teleoperators/openarms/openarms_leader.py
+5 -7
View File
@@ -110,16 +110,12 @@ class OpenArmsLeader(Teleoperator):
def action_features(self) -> Dict[str, type]:
"""Features produced by this teleoperator."""
features = {}
# Right arm motors
# Right arm motors - only positions stored in dataset
for motor in self.bus_right.motors:
features[f"right_{motor}.pos"] = float
features[f"right_{motor}.vel"] = float
features[f"right_{motor}.torque"] = float
# Left arm motors
# Left arm motors - only positions stored in dataset
for motor in self.bus_left.motors:
features[f"left_{motor}.pos"] = float
features[f"left_{motor}.vel"] = float
features[f"left_{motor}.torque"] = float
return features
@property
@@ -277,7 +273,9 @@ class OpenArmsLeader(Teleoperator):
This is the main method for teleoperators - it reads the current state
of the leader arm and returns it as an action that can be sent to a follower.
Reads all motor states (pos/vel/torque) in one CAN refresh cycle
Reads all motor states (pos/vel/torque) in one CAN refresh cycle.
Note: Velocity and torque are read but not stored in dataset (only used for
gravity/friction compensation during recording).
"""
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")