From fef83ce349d25dd3b0ccf9e68277c19113c18d6d Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Wed, 4 Jun 2025 12:09:48 +0200 Subject: [PATCH] Simplify feetech read_calibration --- lerobot/common/motors/feetech/feetech.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/lerobot/common/motors/feetech/feetech.py b/lerobot/common/motors/feetech/feetech.py index d2b115601..e7c5f9b12 100644 --- a/lerobot/common/motors/feetech/feetech.py +++ b/lerobot/common/motors/feetech/feetech.py @@ -251,7 +251,6 @@ class FeetechMotorsBus(MotorsBus): def read_calibration(self) -> dict[str, MotorCalibration]: 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) @@ -263,7 +262,7 @@ class FeetechMotorsBus(MotorsBus): for motor, m in self.motors.items(): calibration[motor] = MotorCalibration( id=m.id, - drive_mode=drive_modes[motor], + drive_mode=0, homing_offset=offsets[motor], range_min=mins[motor], range_max=maxes[motor],