deploy: 912d42f

_sources/operation/lerobot_guide.rst

@@ -324,6 +324,43 @@ Troubleshooting
 .. warning::
    If you encounter issues, follow these troubleshooting steps:
 
+
+Lag Observed in Follower Arms
+-----------------------------
+
+If you notice lag in the follower arms, it's due to the safety settings, which are in place to prevent overshooting that could harm the robot.
+These are designed to ensure safety for new users or when using untested policies.
+
+Once you are comfortable with the kit and the trained policy, you can adjust or disable these safety settings by modifying the configuration.
+
+Follow these steps:
+
+#. Open the configuration file located at:
+
+   ``lerobot/configs/robots/aloha.yaml``
+
+#. Locate the following line in the configuration file:
+
+   .. code-block:: yaml
+
+      max_relative_target: 5  # Original value
+
+#. Change the value of `max_relative_target` from `5` to `null` to disable the safety limit:
+
+   .. code-block:: yaml
+      :emphasize-lines: 5
+
+      # /!\ FOR SAFETY, READ THIS /!\
+      # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+      # The default setting is 5 degrees for Aloha robot motors.
+      # Modify this value to null to remove the limit once you feel confident with the robot.
+      max_relative_target: null  # Updated value
+
+.. important::
+
+   We recommend starting by teleoperating the grippers (commenting out the rest of the motors in the YAML file).
+   Gradually enable additional motors until you can control both arms safely.
+
 OpenCV Installation Issues (Linux)
 ----------------------------------
 

operation/lerobot_guide.html

@@ -101,6 +101,7 @@
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="#troubleshooting">Troubleshooting</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#lag-observed-in-follower-arms">Lag Observed in Follower Arms</a></li>
 <li class="toctree-l4"><a class="reference internal" href="#opencv-installation-issues-linux">OpenCV Installation Issues (Linux)</a></li>
 <li class="toctree-l4"><a class="reference internal" href="#ffmpeg-encoding-error-unknown-encoder-libsvtav1">FFmpeg Encoding Error (<span class="guilabel">unknown encoder libsvtav1</span>)</a></li>
 <li class="toctree-l4"><a class="reference internal" href="#arrow-keys-not-working-during-data-recording-linux">Arrow Keys Not Working During Data Recording (Linux)</a></li>
@@ -432,6 +433,37 @@ <h2>Troubleshooting<a class="headerlink" href="#troubleshooting" title="Permalin
 <p class="first admonition-title">Warning</p>
 <p class="last">If you encounter issues, follow these troubleshooting steps:</p>
 </div>
+<div class="section" id="lag-observed-in-follower-arms">
+<h3>Lag Observed in Follower Arms<a class="headerlink" href="#lag-observed-in-follower-arms" title="Permalink to this headline"></a></h3>
+<p>If you notice lag in the follower arms, it’s due to the safety settings, which are in place to prevent overshooting that could harm the robot.
+These are designed to ensure safety for new users or when using untested policies.</p>
+<p>Once you are comfortable with the kit and the trained policy, you can adjust or disable these safety settings by modifying the configuration.</p>
+<p>Follow these steps:</p>
+<ol class="arabic">
+<li><p class="first">Open the configuration file located at:</p>
+<p><code class="docutils literal notranslate"><span class="pre">lerobot/configs/robots/aloha.yaml</span></code></p>
+</li>
+<li><p class="first">Locate the following line in the configuration file:</p>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">max_relative_target</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5</span><span class="w">  </span><span class="c1"># Original value</span>
+</pre></div>
+</div>
+</li>
+<li><p class="first">Change the value of <cite>max_relative_target</cite> from <cite>5</cite> to <cite>null</cite> to disable the safety limit:</p>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># /!\ FOR SAFETY, READ THIS /!\</span>
+<span class="c1"># `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.</span>
+<span class="c1"># The default setting is 5 degrees for Aloha robot motors.</span>
+<span class="c1"># Modify this value to null to remove the limit once you feel confident with the robot.</span>
+<span class="hll"><span class="nt">max_relative_target</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">null</span><span class="w">  </span><span class="c1"># Updated value</span>
+</span></pre></div>
+</div>
+</li>
+</ol>
+<div class="admonition important">
+<p class="first admonition-title">Important</p>
+<p class="last">We recommend starting by teleoperating the grippers (commenting out the rest of the motors in the YAML file).
+Gradually enable additional motors until you can control both arms safely.</p>
+</div>
+</div>
 <div class="section" id="opencv-installation-issues-linux">
 <h3>OpenCV Installation Issues (Linux)<a class="headerlink" href="#opencv-installation-issues-linux" title="Permalink to this headline"></a></h3>
 <blockquote>