hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Update feetech read_calibration

Browse Source
This commit is contained in:
Simon Alibert
2025-05-22 17:59:54 +02:00
parent 4bb965c283
commit cedaa83bce
1 changed files with 8 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
lerobot/common/motors/feetech/feetech.py
View File

@@ -250,20 +250,14 @@ class FeetechMotorsBus(MotorsBus):
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)
mins = self.sync_read("Min_Position_Limit", normalize=False)
maxes = self.sync_read("Max_Position_Limit", normalize=False)
drive_modes = dict.fromkeys(self.motors, 0)
else:
offsets, mins, maxes, drive_modes = {}, {}, {}, {}
for motor in self.motors:
offsets[motor] = 0
mins[motor] = self.read("Min_Position_Limit", motor, normalize=False)
maxes[motor] = self.read("Max_Position_Limit", motor, normalize=False)
drive_modes[motor] = 0
# TODO(aliberts): add set/get_drive_mode?
offsets, mins, maxes = {}, {}, {}
drive_modes = dict.fromkeys(self.motors, 0)
for motor in self.motors:
mins[motor] = self.read("Min_Position_Limit", motor, normalize=False)
maxes[motor] = self.read("Max_Position_Limit", motor, normalize=False)
offsets[motor] = (
self.read("Homing_Offset", motor, normalize=False) if self.protocol_version == 0 else 0
)
calibration = {}
for motor, m in self.motors.items():