From 4feaef34366cb2bf44f676accb873bc0547b7050 Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Thu, 22 May 2025 16:02:55 +0200
Subject: [PATCH] Adapt feetech calibration

---
 lerobot/common/motors/dynamixel/dynamixel.py |  4 ++++
 lerobot/common/motors/feetech/feetech.py     | 20 ++++++++++++++++++++
 lerobot/common/motors/motors_bus.py          |  3 ++-
 tests/mocks/mock_motors_bus.py               |  1 +
 4 files changed, 27 insertions(+), 1 deletion(-)

diff --git a/lerobot/common/motors/dynamixel/dynamixel.py b/lerobot/common/motors/dynamixel/dynamixel.py
index 16c4b98a9..cbf478da0 100644
--- a/lerobot/common/motors/dynamixel/dynamixel.py
+++ b/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)
diff --git a/lerobot/common/motors/feetech/feetech.py b/lerobot/common/motors/feetech/feetech.py
index be97cd7b1..12a8053ef 100644
--- a/lerobot/common/motors/feetech/feetech.py
+++ b/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)
diff --git a/lerobot/common/motors/motors_bus.py b/lerobot/common/motors/motors_bus.py
index 58b1e49bc..3b665b160 100644
--- a/lerobot/common/motors/motors_bus.py
+++ b/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]:
diff --git a/tests/mocks/mock_motors_bus.py b/tests/mocks/mock_motors_bus.py
index 2a35dfb30..e322eae8a 100644
--- a/tests/mocks/mock_motors_bus.py
+++ b/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): ...