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uncomment handshake (issue on this model)

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Pepijn
2025-07-11 10:41:22 +02:00
parent d9af2f1b89
commit 9fdec23cee
2 changed files with 4 additions and 7 deletions
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src/lerobot/motors/motors_bus.py
+2 -2
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@@ -444,8 +444,8 @@ class MotorsBus(abc.ABC):
try: try:
if not self.port_handler.openPort(): if not self.port_handler.openPort():
raise OSError(f"Failed to open port '{self.port}'.") raise OSError(f"Failed to open port '{self.port}'.")
elif handshake: # elif handshake:
self._handshake() # self._handshake()
except (FileNotFoundError, OSError, serial.SerialException) as e: except (FileNotFoundError, OSError, serial.SerialException) as e:
raise ConnectionError( raise ConnectionError(
f"\nCould not connect on port '{self.port}'. Make sure you are using the correct port." f"\nCould not connect on port '{self.port}'. Make sure you are using the correct port."
src/lerobot/robots/so101_follower_torque/so101_follower_t.py
+2 -5
View File
@@ -46,7 +46,7 @@ class SO101FollowerT(Robot):
_CURRENT_STEP_A: float = 6.5e-3 # 6.5 mA per register LSB #http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0 _CURRENT_STEP_A: float = 6.5e-3 # 6.5 mA per register LSB #http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0
_KT_NM_PER_AMP: float = 0.814 # Torque constant Kt [N·m/A] #https://www.feetechrc.com/811177.html _KT_NM_PER_AMP: float = 0.814 # Torque constant Kt [N·m/A] #https://www.feetechrc.com/811177.html
_MAX_CURRENT_A: float = 3.0 # Safe driver limit for this model _MAX_CURRENT_A: float = 4.0 # Safe driver limit for this model
# Control gains for bilateral teleoperation # Control gains for bilateral teleoperation
_KP_GAINS = { # Position gains [Nm/rad] - reduced for bilateral stability _KP_GAINS = { # Position gains [Nm/rad] - reduced for bilateral stability
@@ -344,6 +344,7 @@ class SO101FollowerT(Robot):
self.bus.write("Operating_Mode", motor, 2, num_retry=2) # Set to current mode self.bus.write("Operating_Mode", motor, 2, num_retry=2) # Set to current mode
self.bus.write("Torque_Limit", motor, 1000, num_retry=2) # 100% self.bus.write("Torque_Limit", motor, 1000, num_retry=2) # 100%
self.bus.write("Max_Torque_Limit", motor, 1000, num_retry=2) # 100% self.bus.write("Max_Torque_Limit", motor, 1000, num_retry=2) # 100%
self.bus.write("Overcurrent_Protection_Time", motor, 250, num_retry=2)
def setup_motors(self) -> None: def setup_motors(self) -> None:
for motor in reversed(self.bus.motors): for motor in reversed(self.bus.motors):
@@ -422,10 +423,6 @@ class SO101FollowerT(Robot):
max_cnt = int(round(self._MAX_CURRENT_A / self._CURRENT_STEP_A)) max_cnt = int(round(self._MAX_CURRENT_A / self._CURRENT_STEP_A))
counts = {} counts = {}
for joint, τ in tau_cmd_nm.items(): for joint, τ in tau_cmd_nm.items():
# Set wrist_flex commands to 0
if joint == "wrist_flex":
counts[joint] = 0
continue
cnt = τ * self.torque_sign[joint] * inv_coef # flip SIGN cnt = τ * self.torque_sign[joint] * inv_coef # flip SIGN
cnt = max(-max_cnt, min(max_cnt, cnt)) cnt = max(-max_cnt, min(max_cnt, cnt))
counts[joint] = int(round(cnt)) counts[joint] = int(round(cnt))