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[pre-commit.ci] auto fixes from pre-commit.com hooks

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pre-commit-ci[bot]
2025-03-10 18:26:52 +00:00
parent e6af3a9461
commit ffb8a5fca5
2 changed files with 6 additions and 8 deletions
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12
lerobot/common/robot_devices/motors/feetech.py
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@@ -127,14 +127,14 @@ NUM_WRITE_RETRY = 20
def convert_ticks_to_degrees(ticks, model): def convert_ticks_to_degrees(ticks, model):
resolutions = MODEL_RESOLUTION[model] resolutions = MODEL_RESOLUTION[model]
# Convert the ticks to degrees # Convert the ticks to degrees
return ticks * (360.0/resolutions) return ticks * (360.0 / resolutions)
def convert_degrees_to_ticks(degrees, model): def convert_degrees_to_ticks(degrees, model):
resolutions = MODEL_RESOLUTION[model] resolutions = MODEL_RESOLUTION[model]
# Convert degrees to motor ticks # Convert degrees to motor ticks
return int(degrees * (resolutions/360.0)) return int(degrees * (resolutions / 360.0))
def adjusted_to_homing_ticks( def adjusted_to_homing_ticks(
@@ -158,7 +158,7 @@ def adjusted_to_homing_ticks(
drive_mode = 0 drive_mode = 0
if motorbus.calibration is not None: if motorbus.calibration is not None:
drive_mode = motorbus.calibration["drive_mode"][motor_id - 1] drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
if drive_mode: if drive_mode:
ticks *= -1 ticks *= -1
@@ -177,7 +177,7 @@ def adjusted_to_motor_ticks(
drive_mode = 0 drive_mode = 0
if motorbus.calibration is not None: if motorbus.calibration is not None:
drive_mode = motorbus.calibration["drive_mode"][motor_id - 1] drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
if drive_mode: if drive_mode:
adjusted_pos *= -1 adjusted_pos *= -1
@@ -508,7 +508,6 @@ class FeetechMotorsBus:
values = np.round(values).astype(np.int32) values = np.round(values).astype(np.int32)
return values return values
def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY): def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
if self.mock: if self.mock:
import tests.mock_scservo_sdk as scs import tests.mock_scservo_sdk as scs
@@ -736,4 +735,3 @@ class FeetechMotorsBus:
def __del__(self): def __del__(self):
if getattr(self, "is_connected", False): if getattr(self, "is_connected", False):
self.disconnect() self.disconnect()

2
lerobot/common/robot_devices/robots/feetech_calibration.py
View File

@@ -161,7 +161,7 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!") print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!")
# Force drive_mode values: motors 2 and 5 -> drive_mode 1; all others -> 0. 1 = clockwise = positive range (0..180), 0 = clockwise = negative range (0..-180) # Force drive_mode values: motors 2 and 5 -> drive_mode 1; all others -> 0. 1 = clockwise = positive range (0..180), 0 = clockwise = negative range (0..-180)
drive_modes = [0, 1, 0, 0, 1, 0] drive_modes = [0, 1, 0, 0, 1, 0]
calib_dict = { calib_dict = {
"homing_offset": encoder_offsets.astype(int).tolist(), "homing_offset": encoder_offsets.astype(int).tolist(),