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This commit is contained in:
Remi Cadene
2025-04-17 04:46:09 +02:00
parent 6b6a990f4c
commit eab5543750
244 changed files with 3679 additions and 4678 deletions
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26
lerobot/common/robot_devices/motors/dynamixel.py
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@@ -1,3 +1,17 @@
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import enum
import logging
import math
@@ -318,7 +332,7 @@ class DynamixelMotorsBus:
)
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -342,7 +356,7 @@ class DynamixelMotorsBus:
def reconnect(self):
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -632,7 +646,7 @@ class DynamixelMotorsBus:
def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -677,7 +691,7 @@ class DynamixelMotorsBus:
start_time = time.perf_counter()
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -743,7 +757,7 @@ class DynamixelMotorsBus:
def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -779,7 +793,7 @@ class DynamixelMotorsBus:
start_time = time.perf_counter()
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl