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Simplify feetech read_calibration

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Simon Alibert
2025-06-04 12:09:48 +02:00
parent eb3986e131
commit fef83ce349
1 changed files with 1 additions and 2 deletions
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3
lerobot/common/motors/feetech/feetech.py
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@@ -251,7 +251,6 @@ class FeetechMotorsBus(MotorsBus):
def read_calibration(self) -> dict[str, MotorCalibration]: def read_calibration(self) -> dict[str, MotorCalibration]:
offsets, mins, maxes = {}, {}, {} offsets, mins, maxes = {}, {}, {}
drive_modes = dict.fromkeys(self.motors, 0)
for motor in self.motors: for motor in self.motors:
mins[motor] = self.read("Min_Position_Limit", motor, normalize=False) mins[motor] = self.read("Min_Position_Limit", motor, normalize=False)
maxes[motor] = self.read("Max_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(): for motor, m in self.motors.items():
calibration[motor] = MotorCalibration( calibration[motor] = MotorCalibration(
id=m.id, id=m.id,
drive_mode=drive_modes[motor], drive_mode=0,
homing_offset=offsets[motor], homing_offset=offsets[motor],
range_min=mins[motor], range_min=mins[motor],
range_max=maxes[motor], range_max=maxes[motor],