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Privatize methods & renames

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This commit is contained in:
Simon Alibert
2025-03-24 11:57:12 +01:00
parent 30fcd3d417
commit 39d8f45810
7 changed files with 86 additions and 79 deletions
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8
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -89,7 +89,7 @@ class DynamixelMotorsBus(MotorsBus):
self.sync_reader = dxl.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
self.sync_writer = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
self._comm_success = dxl.COMM_SUCCESS
self._error = 0x00
self._no_error = 0x00
def broadcast_ping(
self, num_retry: int = 0, raise_on_error: bool = False
@@ -102,16 +102,16 @@ class DynamixelMotorsBus(MotorsBus):
if raise_on_error:
raise ConnectionError(f"Broadcast ping returned a {comm} comm error.")
def calibrate_values(self, ids_values: dict[int, int]) -> dict[int, float]:
def _calibrate_values(self, ids_values: dict[int, int]) -> dict[int, float]:
# TODO
return ids_values
def uncalibrate_values(self, ids_values: dict[int, float]) -> dict[int, int]:
def _uncalibrate_values(self, ids_values: dict[int, float]) -> dict[int, int]:
# TODO
return ids_values
@staticmethod
def split_int_bytes(value: int, n_bytes: int) -> list[int]:
def _split_int_to_bytes(value: int, n_bytes: int) -> list[int]:
# Validate input
if value < 0:
raise ValueError(f"Negative values are not allowed: {value}")