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Fix calibration functions

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This commit is contained in:
Simon Alibert
2025-03-25 17:58:54 +01:00
parent 1f1a01a798
commit 2292b514aa
1 changed files with 4 additions and 4 deletions
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8
lerobot/common/motors/calibration.py
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@@ -55,7 +55,7 @@ def find_offset(motorbus: MotorsBus):
offsets = {}
for name, pos in middle_values.items():
offset = pos - 2047 # Center the middle reading at 2047.
MotorCalibration.set_offset(motorbus, offset, name)
set_offset(motorbus, offset, name)
offsets[name] = offset
return offsets
@@ -93,7 +93,7 @@ def find_min_max(motorbus: MotorsBus):
physical_min = int(raw_min)
physical_max = int(raw_max)
MotorCalibration.set_min_max(motorbus, physical_min, physical_max, name)
set_min_max(motorbus, physical_min, physical_max, name)
min_max[name] = {"min": physical_min, "max": physical_max}
return min_max
@@ -111,8 +111,8 @@ def set_calibration(motorbus: MotorsBus, calibration_fpath: Path) -> None:
print(f"Motor name '{name}' from calibration not found in arm names.")
continue
MotorCalibration.set_offset(motorbus, cal_data["homing_offset"], name)
MotorCalibration.set_min_max(motorbus, cal_data["min"], cal_data["max"], name)
set_offset(motorbus, cal_data["homing_offset"], name)
set_min_max(motorbus, cal_data["min"], cal_data["max"], name)
def set_offset(motorbus: MotorsBus, homing_offset: int, name: str):