Rename CalibrationMode -> MotorNormMode

lerobot/common/motors/__init__.py

@@ -1 +1 @@
-from .motors_bus import CalibrationMode, Motor, MotorsBus
+from .motors_bus import Motor, MotorNormMode, MotorsBus

lerobot/common/motors/dynamixel/dynamixel_calibration.py

@@ -17,7 +17,7 @@
 
 import numpy as np
 
-from ..motors_bus import CalibrationMode, MotorsBus
+from ..motors_bus import MotorNormMode, MotorsBus
 from .dynamixel import TorqueMode
 from .tables import MODEL_RESOLUTION
 
@@ -133,13 +133,13 @@ def run_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type
     print()
 
     # Joints with rotational motions are expressed in degrees in nominal range of [-180, 180]
-    calib_mode = [CalibrationMode.DEGREE.name] * len(arm.names)
+    calib_mode = [MotorNormMode.DEGREE.name] * len(arm.names)
 
     # TODO(rcadene): make type of joints (DEGREE or LINEAR) configurable from yaml?
     if robot_type in ["aloha"] and "gripper" in arm.names:
         # Joints with linear motions (like gripper of Aloha) are expressed in nominal range of [0, 100]
         calib_idx = arm.names.index("gripper")
-        calib_mode[calib_idx] = CalibrationMode.LINEAR.name
+        calib_mode[calib_idx] = MotorNormMode.LINEAR.name
 
     calib_data = {
         "homing_offset": homing_offset.tolist(),

lerobot/common/motors/motors_bus.py

@@ -76,7 +76,7 @@ def assert_same_address(model_ctrl_table: dict[str, dict], motor_models: list[st
         )
 
 
-class CalibrationMode(Enum):
+class MotorNormMode(Enum):
     DEGREE = 0
     RANGE_0_100 = 1
     RANGE_M100_100 = 2
@@ -87,7 +87,7 @@ class CalibrationMode(Enum):
 class Motor:
     id: int
     model: str
-    calibration: CalibrationMode
+    norm_mode: MotorNormMode
 
 
 class JointOutOfRangeError(Exception):