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Add more calibration utilities

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This commit is contained in:
Simon Alibert
2025-03-31 18:14:11 +02:00
parent e096754d14
commit 6bfcc18e73
4 changed files with 72 additions and 42 deletions
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8
lerobot/common/motors/feetech/feetech.py
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@@ -112,14 +112,6 @@ class FeetechMotorsBus(MotorsBus):
return half_turn_homings
def _normalize(self, data_name: str, ids_values: dict[int, int]) -> dict[int, float]:
# TODO
return ids_values
def _unnormalize(self, data_name: str, ids_values: dict[int, float]) -> dict[int, int]:
# TODO
return ids_values
def _encode_value(self, value: int, data_name: str | None = None, n_bytes: int | None = None) -> int:
sign_bit = self.encodings.get(data_name)
return encode_sign_magnitude(value, sign_bit) if sign_bit is not None else value