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https://github.com/huggingface/lerobot.git
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CarolinePascal
4f3f696b27
Takes src/lerobot/motors/ (excluding motors_bus.py, off-limits) to 100% public docstring coverage: dynamixel, feetech, damiao, robstride, calibration_gui.py, and encoding_utils.py. Also fixes a handful of pre-existing docstring bugs found along the way (a parameter name that didn't match its signature, missing argument descriptions, a copy-paste typo). Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
77 lines
1.7 KiB
Plaintext
77 lines
1.7 KiB
Plaintext
# Motors
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`MotorsBus` is the low-level interface to a chain of servos on a serial bus. Robots use it to read positions
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and write goal positions; you rarely touch it directly unless you are adding hardware.
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See [Bring Your Own Hardware](../integrate_hardware) for adding a new bus, and
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[Updating Feetech Firmware](../feetech) and [Damiao Motors and CAN Bus](../damiao) for device-specific notes.
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## MotorsBus
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[[autodoc]] lerobot.motors.motors_bus.MotorsBus
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## Motor
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[[autodoc]] lerobot.motors.Motor
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## MotorCalibration
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[[autodoc]] lerobot.motors.MotorCalibration
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## MotorNormMode
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[[autodoc]] lerobot.motors.MotorNormMode
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## DynamixelMotorsBus
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[[autodoc]] lerobot.motors.dynamixel.DynamixelMotorsBus
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- all
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- is_calibrated
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## Dynamixel OperatingMode
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[[autodoc]] lerobot.motors.dynamixel.OperatingMode
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## Dynamixel DriveMode
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[[autodoc]] lerobot.motors.dynamixel.DriveMode
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## Dynamixel TorqueMode
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[[autodoc]] lerobot.motors.dynamixel.TorqueMode
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## FeetechMotorsBus
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[[autodoc]] lerobot.motors.feetech.FeetechMotorsBus
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- all
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- is_calibrated
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## Feetech OperatingMode
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[[autodoc]] lerobot.motors.feetech.OperatingMode
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## Feetech DriveMode
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[[autodoc]] lerobot.motors.feetech.DriveMode
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## Feetech TorqueMode
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[[autodoc]] lerobot.motors.feetech.TorqueMode
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## DamiaoMotorsBus
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CAN-based bus for Damiao arms. Motors must be switched to MIT control mode to be compatible.
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[[autodoc]] lerobot.motors.damiao.DamiaoMotorsBus
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- all
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- is_connected
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- is_calibrated
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## RobstrideMotorsBus
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CAN-based bus for Robstride motors. Motors must be switched to MIT control mode to be compatible.
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[[autodoc]] lerobot.motors.robstride.RobstrideMotorsBus
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- all
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- is_connected
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