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lerobot
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Add single value write

This commit is contained in:
Simon Alibert 2025-03-21 12:31:41 +01:00
parent a32081757d
commit 3d119c0ccb
1 changed files with 7 additions and 2 deletions
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9
lerobot/common/motors/motors_bus.py
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@ -551,7 +551,7 @@ class MotorsBus(abc.ABC):
# for idx in motor_ids: # for idx in motor_ids:
# value = self.reader.getData(idx, address, n_bytes) # value = self.reader.getData(idx, address, n_bytes)
def write(self, data_name: str, values_dict: dict[MotorLike, int], num_retry: int = 1) -> None: def write(self, data_name: str, values: int | dict[MotorLike, int], num_retry: int = 1) -> None:
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError( raise DeviceNotConnectedError(
f"{self.__class__.__name__}('{self.port}') is not connected. You need to run `{self.__class__.__name__}.connect()`." f"{self.__class__.__name__}('{self.port}') is not connected. You need to run `{self.__class__.__name__}.connect()`."
@ -559,7 +559,12 @@ class MotorsBus(abc.ABC):
start_time = time.perf_counter() start_time = time.perf_counter()
ids_values = {self.get_motor_id(motor): val for motor, val in values_dict.items()} if isinstance(values, int):
ids_values = {id_: values for id_ in self.ids}
elif isinstance(values, dict):
ids_values = {self.get_motor_id(motor): val for motor, val in values.items()}
else:
raise ValueError(f"'values' is expected to be a single value or a dict. Got {values}")
if self._has_different_ctrl_tables: if self._has_different_ctrl_tables:
models = [self.id_to_model(idx) for idx in ids_values] models = [self.id_to_model(idx) for idx in ids_values]