diff --git a/lerobot/common/motors/feetech/__init__.py b/lerobot/common/motors/feetech/__init__.py index 48e0b1c88..23c193b56 100644 --- a/lerobot/common/motors/feetech/__init__.py +++ b/lerobot/common/motors/feetech/__init__.py @@ -1,4 +1,4 @@ from .feetech import FeetechMotorsBus, TorqueMode -from .feetech_calibration import run_arm_manual_calibration +from .feetech_calibration import run_full_arm_calibration -__all__ = ["FeetechMotorsBus", "TorqueMode", "run_arm_manual_calibration"] +__all__ = ["FeetechMotorsBus", "TorqueMode", "run_full_arm_calibration"] diff --git a/lerobot/common/robots/lekiwi/lekiwi_remote.py b/lerobot/common/robots/lekiwi/lekiwi_remote.py index 1643cd5ed..1a3af5cf0 100644 --- a/lerobot/common/robots/lekiwi/lekiwi_remote.py +++ b/lerobot/common/robots/lekiwi/lekiwi_remote.py @@ -61,7 +61,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str): calib_dir.mkdir(parents=True, exist_ok=True) calib_file = calib_dir / "main_follower.json" try: - from lerobot.common.motors.feetech.feetech_calibration import run_arm_manual_calibration + from lerobot.common.motors.feetech.feetech_calibration import run_full_arm_calibration except ImportError: print("[WARNING] Calibration function not available. Skipping calibration.") return @@ -72,7 +72,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str): print(f"[INFO] Loaded calibration from {calib_file}") else: print("[INFO] Calibration file not found. Running manual calibration...") - calibration = run_arm_manual_calibration(motors_bus, "lekiwi", "follower_arm", "follower") + calibration = run_full_arm_calibration(motors_bus, "lekiwi", "follower_arm", "follower") print(f"[INFO] Calibration complete. Saving to {calib_file}") with open(calib_file, "w") as f: json.dump(calibration, f) diff --git a/lerobot/common/robots/mobile_manipulator.py b/lerobot/common/robots/mobile_manipulator.py index 87c852459..330277915 100644 --- a/lerobot/common/robots/mobile_manipulator.py +++ b/lerobot/common/robots/mobile_manipulator.py @@ -26,7 +26,7 @@ import zmq from lerobot.common.cameras.utils import make_cameras_from_configs from lerobot.common.errors import DeviceNotConnectedError from lerobot.common.motors.feetech.feetech import TorqueMode -from lerobot.common.motors.feetech.feetech_calibration import run_arm_manual_calibration +from lerobot.common.motors.feetech.feetech_calibration import run_full_arm_calibration from lerobot.common.motors.motors_bus import MotorsBus from lerobot.common.motors.utils import make_motors_buses_from_configs from lerobot.common.robots.lekiwi.configuration_lekiwi import LeKiwiRobotConfig @@ -267,7 +267,7 @@ class MobileManipulator: calibration = json.load(f) else: print(f"Missing calibration file '{arm_calib_path}'") - calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type) + calibration = run_full_arm_calibration(arm, self.robot_type, name, arm_type) print(f"Calibration is done! Saving calibration file '{arm_calib_path}'") arm_calib_path.parent.mkdir(parents=True, exist_ok=True) with open(arm_calib_path, "w") as f: diff --git a/lerobot/common/robots/moss/robot_moss.py b/lerobot/common/robots/moss/robot_moss.py index 817031358..fda07b345 100644 --- a/lerobot/common/robots/moss/robot_moss.py +++ b/lerobot/common/robots/moss/robot_moss.py @@ -26,7 +26,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte from lerobot.common.motors.feetech import ( FeetechMotorsBus, TorqueMode, - run_arm_manual_calibration, + run_full_arm_calibration, ) from ..robot import Robot @@ -141,7 +141,7 @@ class MossRobot(Robot): else: # TODO(rcadene): display a warning in __init__ if calibration file not available logging.info(f"Missing calibration file '{arm_calib_path}'") - calibration = run_arm_manual_calibration(self.arm, self.robot_type, self.name, "follower") + calibration = run_full_arm_calibration(self.arm, self.robot_type, self.name, "follower") logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'") arm_calib_path.parent.mkdir(parents=True, exist_ok=True) diff --git a/lerobot/common/robots/so100/robot_so100.py b/lerobot/common/robots/so100/robot_so100.py index 1895627eb..17d422476 100644 --- a/lerobot/common/robots/so100/robot_so100.py +++ b/lerobot/common/robots/so100/robot_so100.py @@ -26,7 +26,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte from lerobot.common.motors.feetech import ( FeetechMotorsBus, TorqueMode, - run_arm_manual_calibration, + run_full_arm_calibration, ) from ..robot import Robot @@ -141,7 +141,7 @@ class So100Robot(Robot): else: # TODO(rcadene): display a warning in __init__ if calibration file not available logging.info(f"Missing calibration file '{arm_calib_path}'") - calibration = run_arm_manual_calibration(self.arm, self.robot_type, self.name, "follower") + calibration = run_full_arm_calibration(self.arm, self.robot_type, self.name, "follower") logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'") arm_calib_path.parent.mkdir(parents=True, exist_ok=True) diff --git a/lerobot/common/teleoperators/so100/teleop_so100.py b/lerobot/common/teleoperators/so100/teleop_so100.py index 6b9533934..326d6cc9a 100644 --- a/lerobot/common/teleoperators/so100/teleop_so100.py +++ b/lerobot/common/teleoperators/so100/teleop_so100.py @@ -24,7 +24,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte from lerobot.common.motors.feetech import ( FeetechMotorsBus, TorqueMode, - run_arm_manual_calibration, + run_full_arm_calibration, ) from ..teleoperator import Teleoperator @@ -109,7 +109,7 @@ class SO100Teleop(Teleoperator): else: # TODO(rcadene): display a warning in __init__ if calibration file not available logging.info(f"Missing calibration file '{arm_calib_path}'") - calibration = run_arm_manual_calibration(self.arm, self.robot_type, self.name, "leader") + calibration = run_full_arm_calibration(self.arm, self.robot_type, self.name, "leader") logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'") arm_calib_path.parent.mkdir(parents=True, exist_ok=True)