admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-27 11:46:04 +00:00
Code Issues Packages Projects Releases Wiki Activity

Remove names

Browse Source
This commit is contained in:
Simon Alibert
2025-04-18 09:48:16 +02:00
parent 21b1026872
commit b6b9635be6
11 changed files with 142 additions and 146 deletions
Download Patch File Download Diff File Expand all files Collapse all files
lerobot/common/motors/dynamixel/dynamixel.py
+11 -11
View File
@@ -175,13 +175,13 @@ class DynamixelMotorsBus(MotorsBus):
drive_modes = self.sync_read("Drive_Mode", normalize=False)
calibration = {}
for name, motor in self.motors.items():
calibration[name] = MotorCalibration(
id=motor.id,
drive_mode=drive_modes[name],
homing_offset=offsets[name],
range_min=mins[name],
range_max=maxes[name],
for motor, m in self.motors.items():
calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=drive_modes[motor],
homing_offset=offsets[motor],
range_min=mins[motor],
range_max=maxes[motor],
)
return calibration
@@ -195,16 +195,16 @@ class DynamixelMotorsBus(MotorsBus):
self.calibration = calibration_dict
def disable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.DISABLED.value, num_retry=num_retry)
for motor in self._get_motors_list(motors):
self.write("Torque_Enable", motor, TorqueMode.DISABLED.value, num_retry=num_retry)
def _disable_torque(self, motor_id: int, model: str, num_retry: int = 0) -> None:
addr, length = get_address(self.model_ctrl_table, model, "Torque_Enable")
self._write(addr, length, motor_id, TorqueMode.DISABLED.value, num_retry=num_retry)
def enable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.ENABLED.value, num_retry=num_retry)
for motor in self._get_motors_list(motors):
self.write("Torque_Enable", motor, TorqueMode.ENABLED.value, num_retry=num_retry)
def _encode_sign(self, data_name: str, ids_values: dict[int, int]) -> dict[int, int]:
for id_ in ids_values:
lerobot/common/motors/feetech/feetech.py
+13 -13
View File
@@ -243,13 +243,13 @@ class FeetechMotorsBus(MotorsBus):
# TODO(aliberts): add set/get_drive_mode?
calibration = {}
for name, motor in self.motors.items():
calibration[name] = MotorCalibration(
id=motor.id,
drive_mode=drive_modes[name],
homing_offset=offsets[name],
range_min=mins[name],
range_max=maxes[name],
for motor, m in self.motors.items():
calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=drive_modes[motor],
homing_offset=offsets[motor],
range_min=mins[motor],
range_max=maxes[motor],
)
return calibration
@@ -277,9 +277,9 @@ class FeetechMotorsBus(MotorsBus):
return half_turn_homings
def disable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.DISABLED.value, num_retry=num_retry)
self.write("Lock", name, 0, num_retry=num_retry)
for motor in self._get_motors_list(motors):
self.write("Torque_Enable", motor, TorqueMode.DISABLED.value, num_retry=num_retry)
self.write("Lock", motor, 0, num_retry=num_retry)
def _disable_torque(self, motor_id: int, model: str, num_retry: int = 0) -> None:
addr, length = get_address(self.model_ctrl_table, model, "Torque_Enable")
@@ -288,9 +288,9 @@ class FeetechMotorsBus(MotorsBus):
self._write(addr, length, motor_id, 0, num_retry=num_retry)
def enable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.ENABLED.value, num_retry=num_retry)
self.write("Lock", name, 1, num_retry=num_retry)
for motor in self._get_motors_list(motors):
self.write("Torque_Enable", motor, TorqueMode.ENABLED.value, num_retry=num_retry)
self.write("Lock", motor, 1, num_retry=num_retry)
def _encode_sign(self, data_name: str, ids_values: dict[int, int]) -> dict[int, int]:
for id_ in ids_values:
lerobot/common/motors/motors_bus.py
+19 -23
View File
@@ -282,7 +282,7 @@ class MotorsBus(abc.ABC):
self._no_error: int
self._id_to_model_dict = {m.id: m.model for m in self.motors.values()}
self._id_to_name_dict = {m.id: name for name, m in self.motors.items()}
self._id_to_name_dict = {m.id: motor for motor, m in self.motors.items()}
self._model_nb_to_model_dict = {v: k for k, v in self.model_number_table.items()}
self._validate_motors()
@@ -308,10 +308,6 @@ class MotorsBus(abc.ABC):
DeepDiff(first_table, get_ctrl_table(self.model_ctrl_table, model)) for model in self.models[1:]
)
@cached_property
def names(self) -> list[str]:
return list(self.motors)
@cached_property
def models(self) -> list[str]:
return [m.model for m in self.motors.values()]
@@ -347,7 +343,7 @@ class MotorsBus(abc.ABC):
def _get_motors_list(self, motors: str | list[str] | None) -> list[str]:
if motors is None:
return self.names
return list(self.motors)
elif isinstance(motors, str):
return [motors]
elif isinstance(motors, list):
@@ -535,7 +531,7 @@ class MotorsBus(abc.ABC):
def reset_calibration(self, motors: NameOrID | list[NameOrID] | None = None) -> None:
if motors is None:
motors = self.names
motors = list(self.motors)
elif isinstance(motors, (str, int)):
motors = [motors]
elif not isinstance(motors, list):
@@ -571,7 +567,7 @@ class MotorsBus(abc.ABC):
=> Homing_Offset = ±(X - 2048)
"""
if motors is None:
motors = self.names
motors = list(self.motors)
elif isinstance(motors, (str, int)):
motors = [motors]
else:
@@ -598,7 +594,7 @@ class MotorsBus(abc.ABC):
typically be called prior to this.
"""
if motors is None:
motors = self.names
motors = list(self.motors)
elif isinstance(motors, (str, int)):
motors = [motors]
elif not isinstance(motors, list):
@@ -615,8 +611,8 @@ class MotorsBus(abc.ABC):
if display_values:
print("\n-------------------------------------------")
print(f"{'NAME':<15} | {'MIN':>6} | {'POS':>6} | {'MAX':>6}")
for name in motors:
print(f"{name:<15} | {mins[name]:>6} | {positions[name]:>6} | {maxes[name]:>6}")
for motor in motors:
print(f"{motor:<15} | {mins[motor]:>6} | {positions[motor]:>6} | {maxes[motor]:>6}")
if enter_pressed():
break
@@ -633,13 +629,13 @@ class MotorsBus(abc.ABC):
normalized_values = {}
for id_, val in ids_values.items():
name = self._id_to_name(id_)
min_ = self.calibration[name].range_min
max_ = self.calibration[name].range_max
motor = self._id_to_name(id_)
min_ = self.calibration[motor].range_min
max_ = self.calibration[motor].range_max
bounded_val = min(max_, max(min_, val))
if self.motors[name].norm_mode is MotorNormMode.RANGE_M100_100:
if self.motors[motor].norm_mode is MotorNormMode.RANGE_M100_100:
normalized_values[id_] = (((bounded_val - min_) / (max_ - min_)) * 200) - 100
elif self.motors[name].norm_mode is MotorNormMode.RANGE_0_100:
elif self.motors[motor].norm_mode is MotorNormMode.RANGE_0_100:
normalized_values[id_] = ((bounded_val - min_) / (max_ - min_)) * 100
else:
# TODO(alibers): velocity and degree modes
@@ -653,13 +649,13 @@ class MotorsBus(abc.ABC):
unnormalized_values = {}
for id_, val in ids_values.items():
name = self._id_to_name(id_)
min_ = self.calibration[name].range_min
max_ = self.calibration[name].range_max
if self.motors[name].norm_mode is MotorNormMode.RANGE_M100_100:
motor = self._id_to_name(id_)
min_ = self.calibration[motor].range_min
max_ = self.calibration[motor].range_max
if self.motors[motor].norm_mode is MotorNormMode.RANGE_M100_100:
bounded_val = min(100.0, max(-100.0, val))
unnormalized_values[id_] = int(((bounded_val + 100) / 200) * (max_ - min_) + min_)
elif self.motors[name].norm_mode is MotorNormMode.RANGE_0_100:
elif self.motors[motor].norm_mode is MotorNormMode.RANGE_0_100:
bounded_val = min(100.0, max(0.0, val))
unnormalized_values[id_] = int((bounded_val / 100) * (max_ - min_) + min_)
else:
@@ -854,8 +850,8 @@ class MotorsBus(abc.ABC):
self._assert_protocol_is_compatible("sync_read")
names = self._get_motors_list(motors)
ids = [self.motors[name].id for name in names]
models = [self.motors[name].model for name in names]
ids = [self.motors[motor].id for motor in names]
models = [self.motors[motor].model for motor in names]
if self._has_different_ctrl_tables:
assert_same_address(self.model_ctrl_table, models, data_name)