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lerobot
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Move motor files

This commit is contained in:
Simon Alibert 2025-03-02 21:33:22 +01:00
parent c7dfd32b43
commit 48469ec674
5 changed files with 6 additions and 6 deletions
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0
lerobot/common/motors/dynamixel.py → lerobot/common/motors/dynamixel/dynamixel.py
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2
lerobot/common/motors/dynamixel_calibration.py → lerobot/common/motors/dynamixel/dynamixel_calibration.py
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@ -3,7 +3,7 @@
import numpy as np import numpy as np
from lerobot.common.motors.dynamixel import ( from lerobot.common.motors.dynamixel.dynamixel import (
CalibrationMode, CalibrationMode,
TorqueMode, TorqueMode,
convert_degrees_to_steps, convert_degrees_to_steps,

0
lerobot/common/motors/feetech.py → lerobot/common/motors/feetech/feetech.py
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2
lerobot/common/motors/feetech_calibration.py → lerobot/common/motors/feetech/feetech_calibration.py
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@ -5,7 +5,7 @@ import time
import numpy as np import numpy as np
from lerobot.common.motors.feetech import ( from lerobot.common.motors.feetech.feetech import (
CalibrationMode, CalibrationMode,
TorqueMode, TorqueMode,
convert_degrees_to_steps, convert_degrees_to_steps,

8
lerobot/common/motors/utils.py
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@ -21,12 +21,12 @@ def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig
for key, cfg in motors_bus_configs.items(): for key, cfg in motors_bus_configs.items():
if cfg.type == "dynamixel": if cfg.type == "dynamixel":
from lerobot.common.motors.dynamixel import DynamixelMotorsBus from lerobot.common.motors.dynamixel.dynamixel import DynamixelMotorsBus
motors_buses[key] = DynamixelMotorsBus(cfg) motors_buses[key] = DynamixelMotorsBus(cfg)
elif cfg.type == "feetech": elif cfg.type == "feetech":
from lerobot.common.motors.feetech import FeetechMotorsBus from lerobot.common.motors.feetech.feetech import FeetechMotorsBus
motors_buses[key] = FeetechMotorsBus(cfg) motors_buses[key] = FeetechMotorsBus(cfg)
@ -38,13 +38,13 @@ def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig
def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus: def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
if motor_type == "dynamixel": if motor_type == "dynamixel":
from lerobot.common.motors.dynamixel import DynamixelMotorsBus from lerobot.common.motors.dynamixel.dynamixel import DynamixelMotorsBus
config = DynamixelMotorsBusConfig(**kwargs) config = DynamixelMotorsBusConfig(**kwargs)
return DynamixelMotorsBus(config) return DynamixelMotorsBus(config)
elif motor_type == "feetech": elif motor_type == "feetech":
from lerobot.common.motors.feetech import FeetechMotorsBus from lerobot.common.motors.feetech.feetech import FeetechMotorsBus
config = FeetechMotorsBusConfig(**kwargs) config = FeetechMotorsBusConfig(**kwargs)
return FeetechMotorsBus(config) return FeetechMotorsBus(config)