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Rename idx -> id_

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Simon Alibert
2025-03-25 15:36:36 +01:00
parent 222d6f104e
commit a631e4c11c
1 changed files with 3 additions and 3 deletions
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6
lerobot/common/debugging/motors_bus.py
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@@ -49,20 +49,20 @@ def visualize_motors_bus(motors_bus: MotorsBus):
print(f"read_s: {read_s * 1e3:.2f}ms ({1 / read_s:.0f} Hz)")
for name, raw_ticks in raw_positions.items():
idx = motors_bus.motors[name].id
id_ = motors_bus.motors[name].id
model = motors_bus.motors[name].model
# homed_val = homed_positions[i] # degrees or % if linear
# Manually compute "adjusted ticks" from raw ticks
manual_adjusted = adjusted_to_homing_ticks(raw_ticks, model, motors_bus, idx)
manual_adjusted = adjusted_to_homing_ticks(raw_ticks, model, motors_bus, id_)
# Convert to degrees
manual_degs = convert_ticks_to_degrees(manual_adjusted, model)
# Convert that deg back to ticks
manual_ticks = convert_degrees_to_ticks(manual_degs, model)
# Then invert them using offset & bus drive mode
inv_ticks = adjusted_to_motor_ticks(manual_ticks, model, motors_bus, idx)
inv_ticks = adjusted_to_motor_ticks(manual_ticks, model, motors_bus, id_)
print(
f"{name:15s} | "