def _unnormalize()

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

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

    def _unnormalize(self, 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():
            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.")

            if self.motors[motor].norm_mode is MotorNormMode.RANGE_M100_100:
                val = -val if drive_mode else val
                bounded_val = min(100.0, max(-100.0, val))
                unnormalized_values[id_] = int(((bounded_val + 100) / 200) * (max_ - min_) + min_)
            elif self.motors[motor].norm_mode is MotorNormMode.RANGE_0_100:
                val = 100 - val if drive_mode else val
                bounded_val = min(100.0, max(0.0, val))
                unnormalized_values[id_] = int((bounded_val / 100) * (max_ - min_) + min_)
            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
                unnormalized_values[id_] = int((val * max_res / 360) + mid)
            else:
                raise NotImplementedError

        return unnormalized_values