From f960f4d8d456d8effd9acf4a2320ae02569957b4 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Fri, 11 Apr 2025 11:58:31 +0200 Subject: [PATCH] Fix unormalize --- lerobot/common/motors/motors_bus.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/lerobot/common/motors/motors_bus.py b/lerobot/common/motors/motors_bus.py index efc81166..cada33a7 100644 --- a/lerobot/common/motors/motors_bus.py +++ b/lerobot/common/motors/motors_bus.py @@ -600,6 +600,7 @@ class MotorsBus(abc.ABC): def _normalize(self, data_name: str, ids_values: dict[int, int]) -> dict[int, float]: if not self.calibration: raise RuntimeError(f"{self} has no calibration registered.") + normalized_values = {} for id_, val in ids_values.items(): name = self._id_to_name(id_) @@ -617,6 +618,9 @@ class MotorsBus(abc.ABC): return normalized_values def _unnormalize(self, data_name: str, ids_values: dict[int, float]) -> dict[int, int]: + if not self.calibration: + raise RuntimeError(f"{self} has no calibration registered.") + unnormalized_values = {} for id_, val in ids_values.items(): name = self._id_to_name(id_)