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New Feetech calibration (#859)

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Co-authored-by: Pepijn <pepijn@huggingface.co>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Simon Alibert
2025-03-14 11:31:23 +01:00
committed by GitHub
parent ce63cfdb25
commit 1f7ddc1d76
25 changed files with 529 additions and 795 deletions
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lerobot/common/robots/lekiwi/lekiwi_remote.py
+2 -2
View File
@@ -61,7 +61,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
calib_dir.mkdir(parents=True, exist_ok=True)
calib_file = calib_dir / "main_follower.json"
try:
from lerobot.common.motors.feetech.feetech_calibration import run_arm_manual_calibration
from lerobot.common.motors.feetech.feetech_calibration import run_full_arm_calibration
except ImportError:
print("[WARNING] Calibration function not available. Skipping calibration.")
return
@@ -72,7 +72,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
print(f"[INFO] Loaded calibration from {calib_file}")
else:
print("[INFO] Calibration file not found. Running manual calibration...")
calibration = run_arm_manual_calibration(motors_bus, "lekiwi", "follower_arm", "follower")
calibration = run_full_arm_calibration(motors_bus, "lekiwi", "follower_arm", "follower")
print(f"[INFO] Calibration complete. Saving to {calib_file}")
with open(calib_file, "w") as f:
json.dump(calibration, f)
lerobot/common/robots/lekiwi/robot_lekiwi.py
+2 -2
View File
@@ -12,7 +12,7 @@ import zmq
from lerobot.common.cameras.utils import make_cameras_from_configs
from lerobot.common.errors import DeviceNotConnectedError
from lerobot.common.motors.feetech.feetech import TorqueMode
from lerobot.common.motors.feetech.feetech_calibration import run_arm_manual_calibration
from lerobot.common.motors.feetech.feetech_calibration import run_full_arm_calibration
from lerobot.common.motors.motors_bus import MotorsBus
from lerobot.common.motors.utils import make_motors_buses_from_configs
from lerobot.common.robots.lekiwi.configuration_lekiwi import LeKiwiRobotConfig
@@ -253,7 +253,7 @@ class MobileManipulator:
calibration = json.load(f)
else:
print(f"Missing calibration file '{arm_calib_path}'")
calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
calibration = run_full_arm_calibration(arm, self.robot_type, name, arm_type)
print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
with open(arm_calib_path, "w") as f: