Fix configure, autocalibration, Add media

lerobot/common/robot_devices/robots/manipulator.py

@@ -337,24 +337,27 @@ def load_or_run_calibration_(name, arm, arm_type):
 
                 elif self.robot_type in ["so100"]:
                     from lerobot.common.robot_devices.robots.feetech_calibration import (
-                        run_arm_auto_calibration,
+                        run_arm_auto_calibration_so100,
                         run_arm_manual_calibration,
                     )
 
                     if arm_type == "leader":
                         calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
                     elif arm_type == "follower":
-                        calibration = run_arm_auto_calibration(arm, self.robot_type, name, arm_type)
+                        calibration = run_arm_auto_calibration_so100(arm, self.robot_type, name, arm_type)
                     else:
                         raise ValueError(arm_type)
 
                 elif self.robot_type in ["moss"]:
                     from lerobot.common.robot_devices.robots.feetech_calibration import (
+                        run_arm_auto_calibration_moss,
                         run_arm_manual_calibration,
                     )
 
-                    if arm_type == "leader" or arm_type == "follower":
+                    if arm_type == "leader":
                         calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
+                    elif arm_type == "follower":
+                        calibration = run_arm_auto_calibration_moss(arm, self.robot_type, name, arm_type)
                     else:
                         raise ValueError(arm_type)
 
@@ -468,10 +471,10 @@ def set_so100_robot_preset(self):
             # Mode=0 for Position Control
             self.follower_arms[name].write("Mode", 0)
             # Set P_Coefficient to lower value to avoid shakiness (Default is 32)
-            self.follower_arms[name].write("P_Coefficient", 16, "shoulder_pan")
+            self.follower_arms[name].write("P_Coefficient", 16)
             # Set I_Coefficient and D_Coefficient to default value 0 and 32
-            self.follower_arms[name].write("I_Coefficient", 0, "shoulder_pan")
-            self.follower_arms[name].write("D_Coefficient", 32, "shoulder_pan")
+            self.follower_arms[name].write("I_Coefficient", 0)
+            self.follower_arms[name].write("D_Coefficient", 32)
             # Close the write lock so that Maximum_Acceleration gets written to EPROM address,
             # which is mandatory for Maximum_Acceleration to take effect after rebooting.
             self.follower_arms[name].write("Lock", 0)

lerobot/scripts/configure_motor.py

@@ -112,21 +112,17 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
         if brand == "feetech":
             # Set Maximum_Acceleration to 254 to speedup acceleration and deceleration of
             # the motors. Note: this configuration is not in the official STS3215 Memory Table
+            motor_bus.write("Lock", 0)
             motor_bus.write("Maximum_Acceleration", 254)
 
-            motor_bus.write("Goal_Position", 2047)
+            motor_bus.write("Goal_Position", 2048)
             time.sleep(4)
             print("Present Position", motor_bus.read("Present_Position"))
 
-            motor_bus.write("Offset", 2027)
+            motor_bus.write("Offset", 0)
             time.sleep(4)
             print("Offset", motor_bus.read("Offset"))
 
-            # Read present position for 15 seconds
-            for _ in range(30):
-                print("Present Position", motor_bus.read("Present_Position"))
-                time.sleep(0.5)
-
     except Exception as e:
         print(f"Error occurred during motor configuration: {e}")