def _normalize()

in lerobot/common/motors/motors_bus.py [0:0]

• 25 lines of code
• 10 McCabe index (conditional complexity)

    def _normalize(self, 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():
            motor = self._id_to_name(id_)
            min_ = self.calibration[motor].range_min
            max_ = self.calibration[motor].range_max
            drive_mode = self.apply_drive_mode and self.calibration[motor].drive_mode
            if max_ == min_:
                raise ValueError(f"Invalid calibration for motor '{motor}': min and max are equal.")

            bounded_val = min(max_, max(min_, val))
            if self.motors[motor].norm_mode is MotorNormMode.RANGE_M100_100:
                norm = (((bounded_val - min_) / (max_ - min_)) * 200) - 100
                normalized_values[id_] = -norm if drive_mode else norm
            elif self.motors[motor].norm_mode is MotorNormMode.RANGE_0_100:
                norm = ((bounded_val - min_) / (max_ - min_)) * 100
                normalized_values[id_] = 100 - norm if drive_mode else norm
            elif self.motors[motor].norm_mode is MotorNormMode.DEGREES:
                mid = (min_ + max_) / 2
                max_res = self.model_resolution_table[self._id_to_model(id_)] - 1
                normalized_values[id_] = (val - mid) * 360 / max_res
            else:
                raise NotImplementedError

        return normalized_values