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Fix unormalize

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This commit is contained in:
Simon Alibert
2025-04-11 11:58:31 +02:00
parent 9e57ec7837
commit f960f4d8d4
1 changed files with 4 additions and 0 deletions
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4
lerobot/common/motors/motors_bus.py
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@@ -600,6 +600,7 @@ class MotorsBus(abc.ABC):
def _normalize(self, data_name: str, ids_values: dict[int, int]) -> dict[int, float]: def _normalize(self, data_name: str, ids_values: dict[int, int]) -> dict[int, float]:
if not self.calibration: if not self.calibration:
raise RuntimeError(f"{self} has no calibration registered.") raise RuntimeError(f"{self} has no calibration registered.")
normalized_values = {} normalized_values = {}
for id_, val in ids_values.items(): for id_, val in ids_values.items():
name = self._id_to_name(id_) name = self._id_to_name(id_)
@@ -617,6 +618,9 @@ class MotorsBus(abc.ABC):
return normalized_values return normalized_values
def _unnormalize(self, data_name: str, ids_values: dict[int, float]) -> dict[int, int]: def _unnormalize(self, data_name: str, ids_values: dict[int, float]) -> dict[int, int]:
if not self.calibration:
raise RuntimeError(f"{self} has no calibration registered.")
unnormalized_values = {} unnormalized_values = {}
for id_, val in ids_values.items(): for id_, val in ids_values.items():
name = self._id_to_name(id_) name = self._id_to_name(id_)