Adapt feetech calibration

lerobot/common/motors/dynamixel/dynamixel.py

@@ -169,6 +169,10 @@ class DynamixelMotorsBus(MotorsBus):
         for motor in self.motors:
             self.write("Return_Delay_Time", motor, 0)
 
+    @property
+    def is_calibrated(self) -> bool:
+        return self.calibration == self.read_calibration()
+
     def read_calibration(self) -> dict[str, MotorCalibration]:
         offsets = self.sync_read("Homing_Offset", normalize=False)
         mins = self.sync_read("Min_Position_Limit", normalize=False)

lerobot/common/motors/feetech/feetech.py

@@ -227,6 +227,26 @@ class FeetechMotorsBus(MotorsBus):
             self.write("Maximum_Acceleration", motor, 254)
             self.write("Acceleration", motor, 254)
 
+    @property
+    def is_calibrated(self) -> bool:
+        motors_calibration = self.read_calibration()
+        if set(motors_calibration) != set(self.calibration):
+            return False
+
+        same_ranges = all(
+            self.calibration[motor].range_min == cal.range_min
+            and self.calibration[motor].range_max == cal.range_max
+            for motor, cal in motors_calibration.items()
+        )
+        if self.protocol_version == 1:
+            return same_ranges
+
+        same_offsets = all(
+            self.calibration[motor].homing_offset == cal.homing_offset
+            for motor, cal in motors_calibration.items()
+        )
+        return same_ranges and same_offsets
+
     def read_calibration(self) -> dict[str, MotorCalibration]:
         if self.protocol_version == 0:
             offsets = self.sync_read("Homing_Offset", normalize=False)

lerobot/common/motors/motors_bus.py

@@ -625,9 +625,10 @@ class MotorsBus(abc.ABC):
                 raise RuntimeError("Failed to write bus baud rate.")
 
     @property
+    @abc.abstractmethod
     def is_calibrated(self) -> bool:
         """bool: ``True`` if the cached calibration matches the motors."""
-        return self.calibration == self.read_calibration()
+        pass
 
     @abc.abstractmethod
     def read_calibration(self) -> dict[str, MotorCalibration]:

tests/mocks/mock_motors_bus.py

@@ -125,6 +125,7 @@ class MockMotorsBus(MotorsBus):
     def _handshake(self): ...
     def _find_single_motor(self, motor, initial_baudrate): ...
     def configure_motors(self): ...
+    def is_calibrated(self): ...
     def read_calibration(self): ...
     def write_calibration(self, calibration_dict): ...
     def disable_torque(self, motors, num_retry): ...