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Rename CalibrationMode -> MotorNormMode

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This commit is contained in:
Simon Alibert
2025-03-25 17:42:18 +01:00
parent faa476f0d2
commit 1f1a01a798
12 changed files with 66 additions and 66 deletions
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14
lerobot/common/teleoperators/koch/teleop_koch.py
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@@ -21,7 +21,7 @@ import time
import numpy as np
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import CalibrationMode, Motor
from lerobot.common.motors import Motor, MotorNormMode
from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus,
OperatingMode,
@@ -51,12 +51,12 @@ class KochTeleop(Teleoperator):
self.arm = DynamixelMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": Motor(1, "xl330-m077", CalibrationMode.RANGE_M100_100),
"shoulder_lift": Motor(2, "xl330-m077", CalibrationMode.RANGE_M100_100),
"elbow_flex": Motor(3, "xl330-m077", CalibrationMode.RANGE_M100_100),
"wrist_flex": Motor(4, "xl330-m077", CalibrationMode.RANGE_M100_100),
"wrist_roll": Motor(5, "xl330-m077", CalibrationMode.RANGE_M100_100),
"gripper": Motor(6, "xl330-m077", CalibrationMode.RANGE_0_100),
"shoulder_pan": Motor(1, "xl330-m077", MotorNormMode.RANGE_M100_100),
"shoulder_lift": Motor(2, "xl330-m077", MotorNormMode.RANGE_M100_100),
"elbow_flex": Motor(3, "xl330-m077", MotorNormMode.RANGE_M100_100),
"wrist_flex": Motor(4, "xl330-m077", MotorNormMode.RANGE_M100_100),
"wrist_roll": Motor(5, "xl330-m077", MotorNormMode.RANGE_M100_100),
"gripper": Motor(6, "xl330-m077", MotorNormMode.RANGE_0_100),
},
)

14
lerobot/common/teleoperators/so100/teleop_so100.py
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@@ -21,7 +21,7 @@ import time
import numpy as np
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import CalibrationMode, Motor
from lerobot.common.motors import Motor, MotorNormMode
from lerobot.common.motors.calibration import find_min_max, find_offset, set_calibration
from lerobot.common.motors.feetech import (
FeetechMotorsBus,
@@ -48,12 +48,12 @@ class SO100Teleop(Teleoperator):
self.arm = FeetechMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": Motor(1, "sts3215", CalibrationMode.RANGE_M100_100),
"shoulder_lift": Motor(2, "sts3215", CalibrationMode.RANGE_M100_100),
"elbow_flex": Motor(3, "sts3215", CalibrationMode.RANGE_M100_100),
"wrist_flex": Motor(4, "sts3215", CalibrationMode.RANGE_M100_100),
"wrist_roll": Motor(5, "sts3215", CalibrationMode.RANGE_M100_100),
"gripper": Motor(6, "sts3215", CalibrationMode.RANGE_0_100),
"shoulder_pan": Motor(1, "sts3215", MotorNormMode.RANGE_M100_100),
"shoulder_lift": Motor(2, "sts3215", MotorNormMode.RANGE_M100_100),
"elbow_flex": Motor(3, "sts3215", MotorNormMode.RANGE_M100_100),
"wrist_flex": Motor(4, "sts3215", MotorNormMode.RANGE_M100_100),
"wrist_roll": Motor(5, "sts3215", MotorNormMode.RANGE_M100_100),
"gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
},
)

20
lerobot/common/teleoperators/widowx/teleop_widowx.py
View File

@@ -21,7 +21,7 @@ import time
import numpy as np
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import CalibrationMode, Motor, TorqueMode
from lerobot.common.motors import Motor, MotorNormMode, TorqueMode
from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus,
run_arm_calibration,
@@ -47,15 +47,15 @@ class WidowXTeleop(Teleoperator):
self.arm = DynamixelMotorsBus(
port=self.config.port,
motors={
"waist": Motor(1, "xm430-w350", CalibrationMode.RANGE_M100_100),
"shoulder": Motor(2, "xm430-w350", CalibrationMode.RANGE_M100_100),
"shoulder_shadow": Motor(3, "xm430-w350", CalibrationMode.RANGE_M100_100),
"elbow": Motor(4, "xm430-w350", CalibrationMode.RANGE_M100_100),
"elbow_shadow": Motor(5, "xm430-w350", CalibrationMode.RANGE_M100_100),
"forearm_roll": Motor(6, "xm430-w350", CalibrationMode.RANGE_M100_100),
"wrist_angle": Motor(7, "xm430-w350", CalibrationMode.RANGE_M100_100),
"wrist_rotate": Motor(8, "xl430-w250", CalibrationMode.RANGE_M100_100),
"gripper": Motor(9, "xc430-w150", CalibrationMode.RANGE_0_100),
"waist": Motor(1, "xm430-w350", MotorNormMode.RANGE_M100_100),
"shoulder": Motor(2, "xm430-w350", MotorNormMode.RANGE_M100_100),
"shoulder_shadow": Motor(3, "xm430-w350", MotorNormMode.RANGE_M100_100),
"elbow": Motor(4, "xm430-w350", MotorNormMode.RANGE_M100_100),
"elbow_shadow": Motor(5, "xm430-w350", MotorNormMode.RANGE_M100_100),
"forearm_roll": Motor(6, "xm430-w350", MotorNormMode.RANGE_M100_100),
"wrist_angle": Motor(7, "xm430-w350", MotorNormMode.RANGE_M100_100),
"wrist_rotate": Motor(8, "xl430-w250", MotorNormMode.RANGE_M100_100),
"gripper": Motor(9, "xc430-w150", MotorNormMode.RANGE_0_100),
},
)