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Refactor record_ranges_of_motion

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Simon Alibert
2025-06-04 14:54:29 +02:00
parent b418409b24
commit 9571a713df
1 changed files with 5 additions and 3 deletions
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8
lerobot/common/motors/motors_bus.py
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@@ -746,7 +746,9 @@ class MotorsBus(abc.ABC):
start_positions = self.sync_read("Present_Position", motors, normalize=False) start_positions = self.sync_read("Present_Position", motors, normalize=False)
mins = start_positions.copy() mins = start_positions.copy()
maxes = start_positions.copy() maxes = start_positions.copy()
while True:
user_pressed_enter = False
while not user_pressed_enter:
positions = self.sync_read("Present_Position", motors, normalize=False) positions = self.sync_read("Present_Position", motors, normalize=False)
mins = {motor: min(positions[motor], min_) for motor, min_ in mins.items()} mins = {motor: min(positions[motor], min_) for motor, min_ in mins.items()}
maxes = {motor: max(positions[motor], max_) for motor, max_ in maxes.items()} maxes = {motor: max(positions[motor], max_) for motor, max_ in maxes.items()}
@@ -758,9 +760,9 @@ class MotorsBus(abc.ABC):
print(f"{motor:<15} | {mins[motor]:>6} | {positions[motor]:>6} | {maxes[motor]:>6}") print(f"{motor:<15} | {mins[motor]:>6} | {positions[motor]:>6} | {maxes[motor]:>6}")
if enter_pressed(): if enter_pressed():
break user_pressed_enter = True
if display_values: if display_values and not user_pressed_enter:
# Move cursor up to overwrite the previous output # Move cursor up to overwrite the previous output
move_cursor_up(len(motors) + 3) move_cursor_up(len(motors) + 3)