mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-24 04:59:47 +00:00
Woojin Wie
c2fb644613
* upload * feat(omx): simplify motor initialization and remove default calibration files * feat(omx): read motor positions without normalization for improved accuracy * update calibration method for return factory value Signed-off-by: Junha Cha <ckwnsgk1@gachon.ac.kr> * change the drive mode * refactor: clean up code by removing unnecessary blank lines in omx_follower and omx_leader modules * feat(omx): update calibration method to set drive modes for motors * feat(pyproject): add 'ROBOTIS' to extend-ignore-identifiers-re list * feat(omx): enhance calibration method to write default drive modes to motors * Update src/lerobot/robots/omx_follower/__init__.py Add informations about the robot Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> Signed-off-by: Woojin Wie <dnldnwls1123@gmail.com> --------- Signed-off-by: Junha Cha <ckwnsgk1@gachon.ac.kr> Signed-off-by: Woojin Wie <dnldnwls1123@gmail.com> Co-authored-by: Junha02 <chajunha2023@naver.com> Co-authored-by: Junha Cha <ckwnsgk1@gachon.ac.kr> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
31 lines
1.1 KiB
Python
31 lines
1.1 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from dataclasses import dataclass
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from ..config import TeleoperatorConfig
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@TeleoperatorConfig.register_subclass("omx_leader")
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@dataclass
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class OmxLeaderConfig(TeleoperatorConfig):
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# Port to connect to the arm
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port: str
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# Sets the arm in torque mode with the gripper motor set to this value. This makes it possible to squeeze
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# the gripper and have it spring back to an open position on its own.
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gripper_open_pos: float = 37.0
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