robossembler/gello_software
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Deprecate torque mode

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This commit is contained in:
YuweiXia 2024-10-29 11:02:23 -07:00
parent ca12950433
commit 77b8f160c4
3 changed files with 8 additions and 8 deletions
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4
gello/agents/gello_agent.py
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@ -139,10 +139,10 @@ class GelloAgent(Agent):
# print(current_gripper) # print(current_gripper)
if current_gripper < 0.2: if current_gripper < 0.2:
self._robot.set_torque_mode(False) # self._robot.set_torque_mode(False)
return obs["joint_positions"] return obs["joint_positions"]
else: else:
self._robot.set_torque_mode(False) # self._robot.set_torque_mode(False)
return dyna_joints return dyna_joints
def get_gello_joint_state(self) -> Tuple[np.ndarray, float]: def get_gello_joint_state(self) -> Tuple[np.ndarray, float]:

10
gello/dynamixel/driver.py
View file

@ -140,10 +140,10 @@ class DynamixelDriver(DynamixelDriverProtocol):
# Disable torque for each Dynamixel servo # Disable torque for each Dynamixel servo
self._torque_enabled = False self._torque_enabled = False
try: # try:
self.set_torque_mode(self._torque_enabled) # self.set_torque_mode(self._torque_enabled)
except Exception as e: # except Exception as e:
print(f"port: {port}, {e}") # print(f"port: {port}, {e}")
self._stop_thread = Event() self._stop_thread = Event()
self._start_reading_thread() self._start_reading_thread()
@ -283,7 +283,7 @@ def main():
print(f"Joint angles for IDs {ids}: {joint_angles}") print(f"Joint angles for IDs {ids}: {joint_angles}")
# Test setting torque mode # Test setting torque mode
driver.set_torque_mode(True) # driver.set_torque_mode(True)
# driver.set_torque_mode(False) # driver.set_torque_mode(False)
# driver.move_single_joint(1, 4) # driver.move_single_joint(1, 4)

2
gello/robots/dynamixel.py
View file

@ -73,7 +73,7 @@ class DynamixelRobot(Robot):
if real: if real:
self._driver = DynamixelDriver(joint_ids, port=port, baudrate=baudrate) self._driver = DynamixelDriver(joint_ids, port=port, baudrate=baudrate)
self._driver.set_torque_mode(False) # self._driver.set_torque_mode(False)
else: else:
self._driver = FakeDynamixelDriver(joint_ids) self._driver = FakeDynamixelDriver(joint_ids)
self._torque_on = False self._torque_on = False