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Remove names

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This commit is contained in:
Simon Alibert
2025-04-18 09:48:16 +02:00
parent 21b1026872
commit b6b9635be6
11 changed files with 142 additions and 146 deletions
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22
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -175,13 +175,13 @@ class DynamixelMotorsBus(MotorsBus):
drive_modes = self.sync_read("Drive_Mode", normalize=False)
calibration = {}
for name, motor in self.motors.items():
calibration[name] = MotorCalibration(
id=motor.id,
drive_mode=drive_modes[name],
homing_offset=offsets[name],
range_min=mins[name],
range_max=maxes[name],
for motor, m in self.motors.items():
calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=drive_modes[motor],
homing_offset=offsets[motor],
range_min=mins[motor],
range_max=maxes[motor],
)
return calibration
@@ -195,16 +195,16 @@ class DynamixelMotorsBus(MotorsBus):
self.calibration = calibration_dict
def disable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.DISABLED.value, num_retry=num_retry)
for motor in self._get_motors_list(motors):
self.write("Torque_Enable", motor, TorqueMode.DISABLED.value, num_retry=num_retry)
def _disable_torque(self, motor_id: int, model: str, num_retry: int = 0) -> None:
addr, length = get_address(self.model_ctrl_table, model, "Torque_Enable")
self._write(addr, length, motor_id, TorqueMode.DISABLED.value, num_retry=num_retry)
def enable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.ENABLED.value, num_retry=num_retry)
for motor in self._get_motors_list(motors):
self.write("Torque_Enable", motor, TorqueMode.ENABLED.value, num_retry=num_retry)
def _encode_sign(self, data_name: str, ids_values: dict[int, int]) -> dict[int, int]:
for id_ in ids_values: