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fix(motors): Allows motor to be called other than gripper

This commit is contained in:
Steven Palma 2025-03-17 18:16:52 +01:00
parent f75c9dbdda
commit 6d42af98b6
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1 changed files with 2 additions and 2 deletions
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4
lerobot/common/motors/feetech/feetech_calibration.py
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@ -33,7 +33,7 @@ def disable_torque(arm: MotorsBus):
def get_calibration_modes(arm: MotorsBus):
"""Returns calibration modes for each motor (DEGREE for rotational, LINEAR for gripper)."""
return [
CalibrationMode.LINEAR.name if name == "gripper" else CalibrationMode.DEGREE.name
CalibrationMode.LINEAR.name if "gripper" in name else CalibrationMode.DEGREE.name
for name in arm.motor_names
]
@ -217,7 +217,7 @@ def apply_feetech_offsets_from_calibration(motorsbus: FeetechMotorsBus, calibrat
print(f"Warning: '{m_name}' not found in motorsbus.motors; skipping offset.")
continue
if m_name == "gripper":
if "gripper" in m_name:
old_offset = start_pos # If gripper set the offset to the start position of the gripper
continue