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lerobot
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Fix imports

This commit is contained in:
Simon Alibert 2025-03-10 19:06:24 +01:00
parent e07595b346
commit 74c9ee5959
6 changed files with 12 additions and 12 deletions
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4
lerobot/common/motors/feetech/__init__.py
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@ -1,4 +1,4 @@
from .feetech import FeetechMotorsBus, TorqueMode
from .feetech_calibration import run_arm_manual_calibration
from .feetech_calibration import run_full_arm_calibration
__all__ = ["FeetechMotorsBus", "TorqueMode", "run_arm_manual_calibration"]
__all__ = ["FeetechMotorsBus", "TorqueMode", "run_full_arm_calibration"]

4
lerobot/common/robots/lekiwi/lekiwi_remote.py
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@ -61,7 +61,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
calib_dir.mkdir(parents=True, exist_ok=True)
calib_file = calib_dir / "main_follower.json"
try:
from lerobot.common.motors.feetech.feetech_calibration import run_arm_manual_calibration
from lerobot.common.motors.feetech.feetech_calibration import run_full_arm_calibration
except ImportError:
print("[WARNING] Calibration function not available. Skipping calibration.")
return
@ -72,7 +72,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
print(f"[INFO] Loaded calibration from {calib_file}")
else:
print("[INFO] Calibration file not found. Running manual calibration...")
calibration = run_arm_manual_calibration(motors_bus, "lekiwi", "follower_arm", "follower")
calibration = run_full_arm_calibration(motors_bus, "lekiwi", "follower_arm", "follower")
print(f"[INFO] Calibration complete. Saving to {calib_file}")
with open(calib_file, "w") as f:
json.dump(calibration, f)

4
lerobot/common/robots/mobile_manipulator.py
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@ -26,7 +26,7 @@ import zmq
from lerobot.common.cameras.utils import make_cameras_from_configs
from lerobot.common.errors import DeviceNotConnectedError
from lerobot.common.motors.feetech.feetech import TorqueMode
from lerobot.common.motors.feetech.feetech_calibration import run_arm_manual_calibration
from lerobot.common.motors.feetech.feetech_calibration import run_full_arm_calibration
from lerobot.common.motors.motors_bus import MotorsBus
from lerobot.common.motors.utils import make_motors_buses_from_configs
from lerobot.common.robots.lekiwi.configuration_lekiwi import LeKiwiRobotConfig
@ -267,7 +267,7 @@ class MobileManipulator:
calibration = json.load(f)
else:
print(f"Missing calibration file '{arm_calib_path}'")
calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
calibration = run_full_arm_calibration(arm, self.robot_type, name, arm_type)
print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
with open(arm_calib_path, "w") as f:

4
lerobot/common/robots/moss/robot_moss.py
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@ -26,7 +26,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
from lerobot.common.motors.feetech import (
FeetechMotorsBus,
TorqueMode,
run_arm_manual_calibration,
run_full_arm_calibration,
)
from ..robot import Robot
@ -141,7 +141,7 @@ class MossRobot(Robot):
else:
# TODO(rcadene): display a warning in __init__ if calibration file not available
logging.info(f"Missing calibration file '{arm_calib_path}'")
calibration = run_arm_manual_calibration(self.arm, self.robot_type, self.name, "follower")
calibration = run_full_arm_calibration(self.arm, self.robot_type, self.name, "follower")
logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)

4
lerobot/common/robots/so100/robot_so100.py
View File

@ -26,7 +26,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
from lerobot.common.motors.feetech import (
FeetechMotorsBus,
TorqueMode,
run_arm_manual_calibration,
run_full_arm_calibration,
)
from ..robot import Robot
@ -141,7 +141,7 @@ class So100Robot(Robot):
else:
# TODO(rcadene): display a warning in __init__ if calibration file not available
logging.info(f"Missing calibration file '{arm_calib_path}'")
calibration = run_arm_manual_calibration(self.arm, self.robot_type, self.name, "follower")
calibration = run_full_arm_calibration(self.arm, self.robot_type, self.name, "follower")
logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)

4
lerobot/common/teleoperators/so100/teleop_so100.py
View File

@ -24,7 +24,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
from lerobot.common.motors.feetech import (
FeetechMotorsBus,
TorqueMode,
run_arm_manual_calibration,
run_full_arm_calibration,
)
from ..teleoperator import Teleoperator
@ -109,7 +109,7 @@ class SO100Teleop(Teleoperator):
else:
# TODO(rcadene): display a warning in __init__ if calibration file not available
logging.info(f"Missing calibration file '{arm_calib_path}'")
calibration = run_arm_manual_calibration(self.arm, self.robot_type, self.name, "leader")
calibration = run_full_arm_calibration(self.arm, self.robot_type, self.name, "leader")
logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)