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Fix autocalib moss #486

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merged 2 commits into from
Oct 26, 2024
Merged

Fix autocalib moss #486

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9dd4414
fix autocalib moss
Cadene Oct 26, 2024
b801c15
threshold 40
Cadene Oct 26, 2024
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11 changes: 5 additions & 6 deletions lerobot/common/robot_devices/robots/feetech_calibration.py
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ def move_until_block(arm, motor_name, positive_direction=True, while_move_hook=N
# print(f"{present_voltage=}")
# print(f"{present_temperature=}")

if present_speed == 0 and present_current > 50:
if present_speed == 0 and present_current > 40:
count += 1
if count > 100 or present_current > 300:
return present_pos
Expand Down Expand Up @@ -306,16 +306,16 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str
calib = {}

print("Calibrate shoulder_pan")
calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan", load_threshold=350, count_threshold=200)
calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan")
arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
time.sleep(1)

print("Calibrate gripper")
calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True, count_threshold=200)
calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True)
time.sleep(1)

print("Calibrate wrist_flex")
calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True, count_threshold=200)
calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True)
calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=-210 + 1024)

wr_pos = arm.read("Present_Position", "wrist_roll")
Expand All @@ -329,7 +329,7 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str
time.sleep(1)

print("Calibrate wrist_roll")
calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True, count_threshold=200)
calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True)
calib["wrist_roll"] = apply_offset(calib["wrist_roll"], offset=790)

arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"] - 1024, "wrist_roll")
Expand All @@ -348,7 +348,6 @@ def in_between_move_elbow_flex_hook():
arm,
"elbow_flex",
invert_drive_mode=True,
count_threshold=200,
in_between_move_hook=in_between_move_elbow_flex_hook,
)
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
Expand Down
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