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Add more segmented tests (dynamixel)

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Simon Alibert
2025-04-14 15:16:38 +02:00
parent bdbca09cb2
commit d70bc4bde9
4 changed files with 275 additions and 207 deletions
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4
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -143,11 +143,11 @@ class DynamixelMotorsBus(MotorsBus):
self.write("Return_Delay_Time", id_, 0)
def disable_torque(self, motors: str | list[str] | None = None) -> None:
for name in self._get_names_list(motors):
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.DISABLED.value)
def enable_torque(self, motors: str | list[str] | None = None) -> None:
for name in self._get_names_list(motors):
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.ENABLED.value)
def _encode_sign(self, data_name: str, ids_values: dict[int, int]) -> dict[int, int]: