refactor/lekiwi robot (#863)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

lerobot/common/motors/dynamixel/tables.py

@@ -1,3 +1,24 @@
+# TODO(Steven): Consider doing the following:
+# from enum import Enum
+# class MyControlTableKey(Enum):
+#   ID = "ID"
+#   GOAL_SPEED = "Goal_Speed"
+#   ...
+#
+# MY_CONTROL_TABLE ={
+#   MyControlTableKey.ID.value: (5,1)
+#   MyControlTableKey.GOAL_SPEED.value: (46, 2)
+#   ...
+# }
+# This allows me do to:
+# bus.write(MyControlTableKey.GOAL_SPEED, ...)
+# Instead of:
+# bus.write("Goal_Speed", ...)
+# This is important for two reasons:
+# 1. The linter will tell me if I'm trying to use an invalid key, instead of me realizing when I get the RunTimeError
+# 2. We can change the value of the MyControlTableKey enums without impacting the client code
+
+
 # {data_name: (address, size_byte)}
 # https://emanual.robotis.com/docs/en/dxl/x/{MODEL}/#control-table
 X_SERIES_CONTROL_TABLE = {

lerobot/common/motors/feetech/tables.py

@@ -2,6 +2,26 @@ FIRMWARE_MAJOR_VERSION = (0, 1)
 FIRMWARE_MINOR_VERSION = (1, 1)
 MODEL_NUMBER = (3, 2)
 
+# TODO(Steven): Consider doing the following:
+# from enum import Enum
+# class MyControlTableKey(Enum):
+#   ID = "ID"
+#   GOAL_SPEED = "Goal_Speed"
+#   ...
+#
+# MY_CONTROL_TABLE ={
+#   MyControlTableKey.ID.value: (5,1)
+#   MyControlTableKey.GOAL_SPEED.value: (46, 2)
+#   ...
+# }
+# This allows me do to:
+# bus.write(MyControlTableKey.GOAL_SPEED, ...)
+# Instead of:
+# bus.write("Goal_Speed", ...)
+# This is important for two reasons:
+# 1. The linter will tell me if I'm trying to use an invalid key, instead of me realizing when I get the RunTimeError
+# 2. We can change the value of the MyControlTableKey enums without impacting the client code
+
 # data_name: (address, size_byte)
 # http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0
 STS_SMS_SERIES_CONTROL_TABLE = {

lerobot/common/motors/motors_bus.py

@@ -570,7 +570,7 @@ class MotorsBus(abc.ABC):
             motors = list(self.motors)
         elif isinstance(motors, (str, int)):
             motors = [motors]
-        else:
+        elif not isinstance(motors, list):
             raise TypeError(motors)
 
         self.reset_calibration(motors)
@@ -633,6 +633,8 @@ class MotorsBus(abc.ABC):
             min_ = self.calibration[motor].range_min
             max_ = self.calibration[motor].range_max
             bounded_val = min(max_, max(min_, val))
+            # TODO(Steven): normalization can go boom if max_ == min_, we should add a check probably in record_ranges_of_motions
+            # (which probably indicates the user forgot to move a motor, most likely a gripper-like one)
             if self.motors[motor].norm_mode is MotorNormMode.RANGE_M100_100:
                 normalized_values[id_] = (((bounded_val - min_) / (max_ - min_)) * 200) - 100
             elif self.motors[motor].norm_mode is MotorNormMode.RANGE_0_100: