admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-24 18:26:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix(damiao): make is_calibrated a plain property, not cached

Browse Source 
`is_calibrated` was a `@cached_property`, so it froze at its first-read
value and never reflected later changes to `self.calibration` (set by
connect/calibrate/load). This caused the OpenArm teleop to re-run
calibration even when a calibration file existed, and to skip
`set_zero_position()` after a fresh calibration.

Switch to `@property` (matching the MotorsBus base contract and the
Feetech/SO-100 buses) and drop the now-unused `functools.cached_property`
import.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Martino Russi
2026-07-17 16:35:59 +02:00
parent 228cb5ddb9
commit 3bf4cfeb0c
1 changed files with 1 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/motors/damiao/damiao.py
+1 -2
View File
@@ -20,7 +20,6 @@ import logging
import time import time
from contextlib import contextmanager from contextlib import contextmanager
from copy import deepcopy from copy import deepcopy
from functools import cached_property
from typing import TYPE_CHECKING, Any, TypedDict from typing import TYPE_CHECKING, Any, TypedDict
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
@@ -854,7 +853,7 @@ class DamiaoMotorsBus(MotorsBusBase):
else: else:
raise ValueError(f"Motor {motor_obj} doesn't have a valid recv_id (None).") raise ValueError(f"Motor {motor_obj} doesn't have a valid recv_id (None).")
@cached_property @property
def is_calibrated(self) -> bool: def is_calibrated(self) -> bool:
"""Check if motors are calibrated.""" """Check if motors are calibrated."""
return bool(self.calibration) return bool(self.calibration)