Fix imports

lerobot/common/motors/feetech/__init__.py

@@ -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"]

lerobot/common/robots/lekiwi/lekiwi_remote.py

@@ -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)

lerobot/common/robots/mobile_manipulator.py

@@ -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:

lerobot/common/robots/moss/robot_moss.py

@@ -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)

lerobot/common/robots/so100/robot_so100.py

@@ -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)

lerobot/common/teleoperators/so100/teleop_so100.py

@@ -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)