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Add raw_values option

This commit is contained in:
Simon Alibert 2025-03-24 20:56:58 +01:00
parent 7c8ab8e2d6
commit c6212d585d
1 changed files with 22 additions and 8 deletions
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30
lerobot/common/motors/motors_bus.py
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@ -471,13 +471,19 @@ class MotorsBus(abc.ABC):
pass pass
@overload @overload
def sync_read(self, data_name: str, motors: None = ..., num_retry: int = ...) -> dict[str, Value]: ... def sync_read(
self, data_name: str, motors: None = ..., raw_values: bool = ..., num_retry: int = ...
) -> dict[str, Value]: ...
@overload @overload
def sync_read( def sync_read(
self, data_name: str, motors: NameOrID | list[NameOrID], num_retry: int = ... self, data_name: str, motors: NameOrID | list[NameOrID], raw_values: bool = ..., num_retry: int = ...
) -> dict[NameOrID, Value]: ... ) -> dict[NameOrID, Value]: ...
def sync_read( def sync_read(
self, data_name: str, motors: NameOrID | list[NameOrID] | None = None, num_retry: int = 0 self,
data_name: str,
motors: NameOrID | list[NameOrID] | None = None,
raw_values: bool = False,
num_retry: int = 0,
) -> dict[NameOrID, Value]: ) -> dict[NameOrID, Value]:
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError( raise DeviceNotConnectedError(
@ -503,7 +509,7 @@ class MotorsBus(abc.ABC):
f"{self.packet_handler.getTxRxResult(comm)}" f"{self.packet_handler.getTxRxResult(comm)}"
) )
if data_name in self.calibration_required and self.calibration is not None: if not raw_values and data_name in self.calibration_required and self.calibration is not None:
ids_values = self._calibrate_values(ids_values) ids_values = self._calibrate_values(ids_values)
return {id_key_map[idx]: val for idx, val in ids_values.items()} return {id_key_map[idx]: val for idx, val in ids_values.items()}
@ -551,7 +557,13 @@ 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 sync_write(self, data_name: str, values: Value | dict[NameOrID, Value], num_retry: int = 0) -> None: def sync_write(
self,
data_name: str,
values: Value | dict[NameOrID, Value],
raw_values: bool = False,
num_retry: int = 0,
) -> 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()`."
@ -564,7 +576,7 @@ class MotorsBus(abc.ABC):
else: else:
raise ValueError(f"'values' is expected to be a single value or a dict. Got {values}") raise ValueError(f"'values' is expected to be a single value or a dict. Got {values}")
if data_name in self.calibration_required and self.calibration is not None: if not raw_values and data_name in self.calibration_required and self.calibration is not None:
ids_values = self._uncalibrate_values(ids_values) ids_values = self._uncalibrate_values(ids_values)
comm = self._sync_write(data_name, ids_values, num_retry) comm = self._sync_write(data_name, ids_values, num_retry)
@ -602,7 +614,9 @@ class MotorsBus(abc.ABC):
data = self._split_int_to_bytes(value, n_bytes) data = self._split_int_to_bytes(value, n_bytes)
self.sync_writer.addParam(idx, data) self.sync_writer.addParam(idx, data)
def write(self, data_name: str, motor: NameOrID, value: Value, num_retry: int = 0) -> None: def write(
self, data_name: str, motor: NameOrID, value: Value, raw_value: bool = False, num_retry: int = 0
) -> 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()`."
@ -610,7 +624,7 @@ class MotorsBus(abc.ABC):
idx = self._get_motor_id(motor) idx = self._get_motor_id(motor)
if data_name in self.calibration_required and self.calibration is not None: if not raw_value and data_name in self.calibration_required and self.calibration is not None:
id_value = self._uncalibrate_values({idx: value}) id_value = self._uncalibrate_values({idx: value})
value = id_value[idx] value = id_value[idx]