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Add torque_disabled context

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This commit is contained in:
Simon Alibert
2025-04-15 11:43:22 +02:00
parent 9afc4b771c
commit 2bb73ac431
4 changed files with 59 additions and 54 deletions
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lerobot/common/robots/so100/so100_follower.py
+9 -11
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@@ -144,17 +144,15 @@ class SO100Follower(Robot):
print("Calibration saved to", self.calibration_fpath)
def configure(self) -> None:
self.arm.disable_torque()
self.arm.configure_motors()
for name in self.arm.names:
self.arm.write("Operating_Mode", name, OperatingMode.POSITION.value)
# Set P_Coefficient to lower value to avoid shakiness (Default is 32)
self.arm.write("P_Coefficient", name, 16)
# Set I_Coefficient and D_Coefficient to default value 0 and 32
self.arm.write("I_Coefficient", name, 0)
self.arm.write("D_Coefficient", name, 32)
self.arm.enable_torque()
with self.arm.torque_disabled():
self.arm.configure_motors()
for name in self.arm.names:
self.arm.write("Operating_Mode", name, OperatingMode.POSITION.value)
# Set P_Coefficient to lower value to avoid shakiness (Default is 32)
self.arm.write("P_Coefficient", name, 16)
# Set I_Coefficient and D_Coefficient to default value 0 and 32
self.arm.write("I_Coefficient", name, 0)
self.arm.write("D_Coefficient", name, 32)
def get_observation(self) -> dict[str, Any]:
if not self.is_connected: