From 3bcf10126f3ea87d2f856c21aae9e402e54a29e7 Mon Sep 17 00:00:00 2001 From: Shantanu Date: Fri, 27 Sep 2024 16:55:38 -0500 Subject: [PATCH 1/3] Troubleshoot Lag in Follower Arms --- docs/operation/lerobot_guide.rst | 34 ++++++++++++++++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/docs/operation/lerobot_guide.rst b/docs/operation/lerobot_guide.rst index 1159b70..69caeda 100644 --- a/docs/operation/lerobot_guide.rst +++ b/docs/operation/lerobot_guide.rst @@ -324,6 +324,40 @@ 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: + +1. Open the configuration file located at: + + ``lerobot/configs/robots/aloha.yaml`` + +2. Locate the following line in the configuration file: + + .. code-block:: yaml + + max_relative_target: 5 # Original value + +3. 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) ---------------------------------- From 588eba6755e80a0f44c3385e4b8a7f38af457439 Mon Sep 17 00:00:00 2001 From: Shantanu Date: Fri, 27 Sep 2024 17:05:21 -0500 Subject: [PATCH 2/3] Reviewed Changes --- docs/operation/lerobot_guide.rst | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/operation/lerobot_guide.rst b/docs/operation/lerobot_guide.rst index 69caeda..3fbfe41 100644 --- a/docs/operation/lerobot_guide.rst +++ b/docs/operation/lerobot_guide.rst @@ -328,7 +328,8 @@ Troubleshooting 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. +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. @@ -355,7 +356,7 @@ Follow these steps: # 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. +.. 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) From 0e004a45ab09715fd1ad8465e30d3191e6b28181 Mon Sep 17 00:00:00 2001 From: lukeschmitt-tr <85308904+lukeschmitt-tr@users.noreply.github.com> Date: Fri, 27 Sep 2024 17:13:47 -0500 Subject: [PATCH 3/3] Apply suggestions from code review --- docs/operation/lerobot_guide.rst | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/docs/operation/lerobot_guide.rst b/docs/operation/lerobot_guide.rst index 3fbfe41..73f704c 100644 --- a/docs/operation/lerobot_guide.rst +++ b/docs/operation/lerobot_guide.rst @@ -335,17 +335,17 @@ Once you are comfortable with the kit and the trained policy, you can adjust or Follow these steps: -1. Open the configuration file located at: +#. Open the configuration file located at: ``lerobot/configs/robots/aloha.yaml`` -2. Locate the following line in the configuration file: +#. Locate the following line in the configuration file: .. code-block:: yaml max_relative_target: 5 # Original value -3. Change the value of `max_relative_target` from `5` to `null` to disable the safety limit: +#. Change the value of `max_relative_target` from `5` to `null` to disable the safety limit: .. code-block:: yaml :emphasize-lines: 5 @@ -356,8 +356,10 @@ Follow these steps: # 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. +.. 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) ----------------------------------