# Trace: Script to Check Motor Connection and Details Agent: pi | Model: GPT-5.3 Codex | Project: robot-1 --- ## User $ lerobot-setup-motors --robot.type=so101_follower --robot.port=/dev/tty.usbmodem59700737971 This command works very well. I would like you to write a script that is a modified version of this in the scripts folder here. When it's connected to a motor it should just check. It should say, "Hey are we connected to this motor?" If we're connected to this motor, you just dump all of the details about the motor, including if it's already had its motor ID set or not, and then any firmware did, basically all the data we can read back about this motor. Just use the stuff that's used; follow all the code in the command. go to ./lerobot/ to find the source code for this command ## Assistant ### Tool: bash **Args:** ```json { "command": "ls -la" } ``` ## Assistant **Result** (success): ``` total 8 drwxr-xr-x@ 6 mukund staff 192 Mar 18 04:16 . drwxr-xr-x@ 59 mukund staff 1888 Mar 18 03:54 .. drwxr-xr-x@ 9 mukund staff 288 Mar 18 03:59 .venv drwxr-xr-x@ 29 mukund staff 928 Mar 18 04:30 lerobot -rw-r--r--@ 1 mukund staff 271 Mar 18 04:01 README.md drwxr-xr-x@ 3 mukund staff 96 Mar 18 04:16 scripts ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "rg -n \"lerobot-setup-motors|setup_motors|setup motors|setup-motors\" lerobot" } ``` ## Assistant **Result** (success): ``` lerobot/src/lerobot/scripts/lerobot_setup_motors.py:21:lerobot-setup-motors \ lerobot/src/lerobot/scripts/lerobot_setup_motors.py:77:def setup_motors(cfg: SetupConfig): lerobot/src/lerobot/scripts/lerobot_setup_motors.py:86: device.setup_motors() lerobot/src/lerobot/scripts/lerobot_setup_motors.py:90: setup_motors() lerobot/src/lerobot/teleoperators/openarm_leader/openarm_leader.py:180: def setup_motors(self) -> None: lerobot/src/lerobot/teleoperators/koch_leader/koch_leader.py:156: def setup_motors(self) -> None: lerobot/docs/source/lekiwi.mdx:122:You can run this command to setup motors for LeKiwi. It will first setup the motors for arm (id 6..1) and then setup motors for wheels (9,8,7) lerobot/docs/source/lekiwi.mdx:125:lerobot-setup-motors \ lerobot/src/lerobot/robots/openarm_follower/openarm_follower.py:216: def setup_motors(self) -> None: lerobot/src/lerobot/teleoperators/openarm_mini/openarm_mini.py:258: def setup_motors(self) -> None: lerobot/docs/source/so101.mdx:117: src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/setup_motors_so101_2.mp4" lerobot/docs/source/so101.mdx:127: lerobot/docs/source/so101.mdx:131:lerobot-setup-motors \ lerobot/docs/source/so101.mdx:148:follower.setup_motors() lerobot/docs/source/so101.mdx:203: lerobot/docs/source/so101.mdx:207:lerobot-setup-motors \ lerobot/docs/source/so101.mdx:224:leader.setup_motors() lerobot/src/lerobot/robots/so_follower/so_follower.py:171: def setup_motors(self) -> None: lerobot/docs/source/so100.mdx:90:For a visual reference on how to set the motor ids please refer to [this video](https://huggingface.co/docs/lerobot/en/so101#setup-motors-video) where we follow the process for the SO101 arm. lerobot/docs/source/so100.mdx:92: lerobot/docs/source/so100.mdx:96:lerobot-setup-motors \ lerobot/docs/source/so100.mdx:113:follower.setup_motors() lerobot/docs/source/so100.mdx:168: lerobot/docs/source/so100.mdx:171:lerobot-setup-motors \ lerobot/docs/source/so100.mdx:187:leader.setup_motors() lerobot/src/lerobot/robots/lekiwi/lekiwi.py:201: def setup_motors(self) -> None: lerobot/src/lerobot/robots/omx_follower/omx_follower.py:161: def setup_motors(self) -> None: lerobot/src/lerobot/teleoperators/omx_leader/omx_leader.py:145: def setup_motors(self) -> None: lerobot/src/lerobot/robots/bi_openarm_follower/bi_openarm_follower.py:133: def setup_motors(self) -> None: lerobot/docs/source/koch.mdx:95:For a visual reference on how to set the motor ids please refer to [this video](https://huggingface.co/docs/lerobot/en/so101#setup-motors-video) where we follow the process for the SO101 arm. lerobot/docs/source/koch.mdx:97: lerobot/docs/source/koch.mdx:101:lerobot-setup-motors \ lerobot/docs/source/koch.mdx:118:follower.setup_motors() lerobot/docs/source/koch.mdx:173: lerobot/docs/source/koch.mdx:177:lerobot-setup-motors \ lerobot/docs/source/koch.mdx:194:leader.setup_motors() lerobot/src/lerobot/robots/koch_follower/koch_follower.py:178: def setup_motors(self) -> None: lerobot/src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py:92: def setup_motors(self) -> None: lerobot/src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py:93: self.left_arm.setup_motors() lerobot/src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py:94: self.right_arm.setup_motors() lerobot/src/lerobot/robots/bi_so_follower/bi_so_follower.py:117: def setup_motors(self) -> None: lerobot/src/lerobot/robots/bi_so_follower/bi_so_follower.py:118: self.left_arm.setup_motors() lerobot/src/lerobot/robots/bi_so_follower/bi_so_follower.py:119: self.right_arm.setup_motors() lerobot/src/lerobot/teleoperators/so_leader/so_leader.py:133: def setup_motors(self) -> None: lerobot/src/lerobot/robots/hope_jr/hope_jr_hand.py:153: def setup_motors(self) -> None: lerobot/src/lerobot/robots/hope_jr/hope_jr_arm.py:123: def setup_motors(self) -> None: lerobot/src/lerobot/teleoperators/bi_openarm_leader/bi_openarm_leader.py:109: def setup_motors(self) -> None: lerobot/pyproject.toml:219:lerobot-setup-motors="lerobot.scripts.lerobot_setup_motors:main" ``` ## Assistant ### Tool: read **Args:** ```json { "path": "lerobot/src/lerobot/scripts/lerobot_setup_motors.py" } ``` ## Assistant ### Tool: read **Args:** ```json { "path": "lerobot/src/lerobot/robots/so_follower/so_follower.py" } ``` ## Assistant **Result** (success): ``` # Copyright 2024 The HuggingFace Inc. team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Helper to set motor ids and baudrate. Example: ```shell lerobot-setup-motors \ --teleop.type=so100_leader \ --teleop.port=/dev/tty.usbmodem575E0031751 ``` """ from dataclasses import dataclass import draccus from lerobot.robots import ( # noqa: F401 RobotConfig, bi_so_follower, koch_follower, lekiwi, make_robot_from_config, omx_follower, so_follower, ) from lerobot.teleoperators import ( # noqa: F401 TeleoperatorConfig, bi_so_leader, koch_leader, make_teleoperator_from_config, omx_leader, openarm_mini, so_leader, ) COMPATIBLE_DEVICES = [ "koch_follower", "koch_leader", "omx_follower", "omx_leader", "openarm_mini", "so100_follower", "so100_leader", "so101_follower", "so101_leader", "lekiwi", ] @dataclass class SetupConfig: teleop: TeleoperatorConfig | None = None robot: RobotConfig | None = None def __post_init__(self): if bool(self.teleop) == bool(self.robot): raise ValueError("Choose either a teleop or a robot.") self.device = self.robot if self.robot else self.teleop @draccus.wrap() def setup_motors(cfg: SetupConfig): if cfg.device.type not in COMPATIBLE_DEVICES: raise NotImplementedError if isinstance(cfg.device, RobotConfig): device = make_robot_from_config(cfg.device) else: device = make_teleoperator_from_config(cfg.device) device.setup_motors() def main(): setup_motors() if __name__ == "__main__": main() ``` ## Assistant **Result** (success): ``` #!/usr/bin/env python # Copyright 2026 The HuggingFace Inc. team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. import logging import time from functools import cached_property from lerobot.cameras.utils import make_cameras_from_configs from lerobot.motors import Motor, MotorCalibration, MotorNormMode from lerobot.motors.feetech import ( FeetechMotorsBus, OperatingMode, ) from lerobot.types import RobotAction, RobotObservation from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected from ..robot import Robot from ..utils import ensure_safe_goal_position from .config_so_follower import SOFollowerRobotConfig logger = logging.getLogger(__name__) class SOFollower(Robot): """ Generic SO follower base implementing common functionality for SO-100/101/10X. Designed to be subclassed with a per-hardware-model `config_class` and `name`. """ config_class = SOFollowerRobotConfig name = "so_follower" def __init__(self, config: SOFollowerRobotConfig): super().__init__(config) self.config = config # choose normalization mode depending on config if available norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100 self.bus = FeetechMotorsBus( port=self.config.port, motors={ "shoulder_pan": Motor(1, "sts3215", norm_mode_body), "shoulder_lift": Motor(2, "sts3215", norm_mode_body), "elbow_flex": Motor(3, "sts3215", norm_mode_body), "wrist_flex": Motor(4, "sts3215", norm_mode_body), "wrist_roll": Motor(5, "sts3215", norm_mode_body), "gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100), }, calibration=self.calibration, ) self.cameras = make_cameras_from_configs(config.cameras) @property def _motors_ft(self) -> dict[str, type]: return {f"{motor}.pos": float for motor in self.bus.motors} @property def _cameras_ft(self) -> dict[str, tuple]: return { cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras } @cached_property def observation_features(self) -> dict[str, type | tuple]: return {**self._motors_ft, **self._cameras_ft} @cached_property def action_features(self) -> dict[str, type]: return self._motors_ft @property def is_connected(self) -> bool: return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values()) @check_if_already_connected def connect(self, calibrate: bool = True) -> None: """ We assume that at connection time, arm is in a rest position, and torque can be safely disabled to run calibration. """ self.bus.connect() if not self.is_calibrated and calibrate: logger.info( "Mismatch between calibration values in the motor and the calibration file or no calibration file found" ) self.calibrate() for cam in self.cameras.values(): cam.connect() self.configure() logger.info(f"{self} connected.") @property def is_calibrated(self) -> bool: return self.bus.is_calibrated def calibrate(self) -> None: if self.calibration: # Calibration file exists, ask user whether to use it or run new calibration user_input = input( f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: " ) if user_input.strip().lower() != "c": logger.info(f"Writing calibration file associated with the id {self.id} to the motors") self.bus.write_calibration(self.calibration) return logger.info(f"\nRunning calibration of {self}") self.bus.disable_torque() for motor in self.bus.motors: self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value) input(f"Move {self} to the middle of its range of motion and press ENTER....") homing_offsets = self.bus.set_half_turn_homings() # Attempt to call record_ranges_of_motion with a reduced motor set when appropriate. full_turn_motor = "wrist_roll" unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor] print( f"Move all joints except '{full_turn_motor}' sequentially through their " "entire ranges of motion.\nRecording positions. Press ENTER to stop..." ) range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors) range_mins[full_turn_motor] = 0 range_maxes[full_turn_motor] = 4095 self.calibration = {} for motor, m in self.bus.motors.items(): self.calibration[motor] = MotorCalibration( id=m.id, drive_mode=0, homing_offset=homing_offsets[motor], range_min=range_mins[motor], range_max=range_maxes[motor], ) self.bus.write_calibration(self.calibration) self._save_calibration() print("Calibration saved to", self.calibration_fpath) def configure(self) -> None: with self.bus.torque_disabled(): self.bus.configure_motors() for motor in self.bus.motors: self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value) # Set P_Coefficient to lower value to avoid shakiness (Default is 32) self.bus.write("P_Coefficient", motor, 16) # Set I_Coefficient and D_Coefficient to default value 0 and 32 self.bus.write("I_Coefficient", motor, 0) self.bus.write("D_Coefficient", motor, 32) if motor == "gripper": self.bus.write("Max_Torque_Limit", motor, 500) # 50% of max torque to avoid burnout self.bus.write("Protection_Current", motor, 250) # 50% of max current to avoid burnout self.bus.write("Overload_Torque", motor, 25) # 25% torque when overloaded def setup_motors(self) -> None: for motor in reversed(self.bus.motors): input(f"Connect the controller board to the '{motor}' motor only and press enter.") self.bus.setup_motor(motor) print(f"'{motor}' motor id set to {self.bus.motors[motor].id}") @check_if_not_connected def get_observation(self) -> RobotObservation: # Read arm position start = time.perf_counter() obs_dict = self.bus.sync_read("Present_Position") obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()} dt_ms = (time.perf_counter() - start) * 1e3 logger.debug(f"{self} read state: {dt_ms:.1f}ms") # Capture images from cameras for cam_key, cam in self.cameras.items(): start = time.perf_counter() obs_dict[cam_key] = cam.read_latest() dt_ms = (time.perf_counter() - start) * 1e3 logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms") return obs_dict @check_if_not_connected def send_action(self, action: RobotAction) -> RobotAction: """Command arm to move to a target joint configuration. The relative action magnitude may be clipped depending on the configuration parameter `max_relative_target`. In this case, the action sent differs from original action. Thus, this function always returns the action actually sent. Raises: RobotDeviceNotConnectedError: if robot is not connected. Returns: RobotAction: the action sent to the motors, potentially clipped. """ goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")} # Cap goal position when too far away from present position. # /!\ Slower fps expected due to reading from the follower. if self.config.max_relative_target is not None: present_pos = self.bus.sync_read("Present_Position") goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in goal_pos.items()} goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target) # Send goal position to the arm self.bus.sync_write("Goal_Position", goal_pos) return {f"{motor}.pos": val for motor, val in goal_pos.items()} @check_if_not_connected def disconnect(self): self.bus.disconnect(self.config.disable_torque_on_disconnect) for cam in self.cameras.values(): cam.disconnect() logger.info(f"{self} disconnected.") SO100Follower = SOFollower SO101Follower = SOFollower ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "rg -n \"class FeetechMotorsBus|def setup_motor|sync_read\\(|read\\(\" lerobot/src/lerobot/motors -g '*.py'" } ``` ## Assistant **Result** (success): ``` lerobot/src/lerobot/motors/feetech/feetech.py:107:class FeetechMotorsBus(SerialMotorsBus): lerobot/src/lerobot/motors/feetech/feetech.py:263: mins[motor] = self.read("Min_Position_Limit", motor, normalize=False) lerobot/src/lerobot/motors/feetech/feetech.py:264: maxes[motor] = self.read("Max_Position_Limit", motor, normalize=False) lerobot/src/lerobot/motors/feetech/feetech.py:266: self.read("Homing_Offset", motor, normalize=False) if self.protocol_version == 0 else 0 lerobot/src/lerobot/motors/feetech/feetech.py:425: value, comm, error = self._read(addr, length, id_, raise_on_error=False) lerobot/src/lerobot/motors/feetech/feetech.py:472: firm_ver_major, comm, error = self._read( lerobot/src/lerobot/motors/feetech/feetech.py:478: firm_ver_minor, comm, error = self._read( lerobot/src/lerobot/motors/feetech/feetech.py:491: model_nb, comm, error = self._read(*MODEL_NUMBER, id_, raise_on_error=raise_on_error) lerobot/src/lerobot/motors/motors_bus.py:82: def read(self, data_name: str, motor: str) -> Value: lerobot/src/lerobot/motors/motors_bus.py:92: def sync_read(self, data_name: str, motors: str | list[str] | None = None) -> dict[str, Value]: lerobot/src/lerobot/motors/motors_bus.py:321: position = bus.read("Present_Position", "my_motor", normalize=False) lerobot/src/lerobot/motors/motors_bus.py:576: def setup_motor( lerobot/src/lerobot/motors/motors_bus.py:779: actual_positions = self.sync_read("Present_Position", motor_names, normalize=False) lerobot/src/lerobot/motors/motors_bus.py:809: start_positions = self.sync_read("Present_Position", motor_names, normalize=False) lerobot/src/lerobot/motors/motors_bus.py:815: positions = self.sync_read("Present_Position", motor_names, normalize=False) lerobot/src/lerobot/motors/motors_bus.py:979: def read( lerobot/src/lerobot/motors/motors_bus.py:1005: value, _, _ = self._read(addr, length, id_, num_retry=num_retry, raise_on_error=True, err_msg=err_msg) lerobot/src/lerobot/motors/motors_bus.py:1015: def _read( lerobot/src/lerobot/motors/motors_bus.py:1112: def sync_read( lerobot/src/lerobot/motors/motors_bus.py:1145: raw_ids_values, _ = self._sync_read( lerobot/src/lerobot/motors/motors_bus.py:1157: def _sync_read( lerobot/src/lerobot/motors/motors_bus.py:1194: # def _async_read(self, motor_ids: list[int], address: int, length: int): lerobot/src/lerobot/motors/damiao/damiao.py:586: def read(self, data_name: str, motor: str) -> Value: lerobot/src/lerobot/motors/damiao/damiao.py:638: def sync_read( lerobot/src/lerobot/motors/damiao/damiao.py:775: start_positions = self.sync_read("Present_Position", target_motors) lerobot/src/lerobot/motors/damiao/damiao.py:783: positions = self.sync_read("Present_Position", target_motors) lerobot/src/lerobot/motors/dynamixel/dynamixel.py:175: offsets = self.sync_read("Homing_Offset", normalize=False) lerobot/src/lerobot/motors/dynamixel/dynamixel.py:176: mins = self.sync_read("Min_Position_Limit", normalize=False) lerobot/src/lerobot/motors/dynamixel/dynamixel.py:177: maxes = self.sync_read("Max_Position_Limit", normalize=False) lerobot/src/lerobot/motors/dynamixel/dynamixel.py:178: drive_modes = self.sync_read("Drive_Mode", normalize=False) lerobot/src/lerobot/motors/calibration_gui.py:233: m: bus.read("Present_Position", m, normalize=False) lerobot/src/lerobot/motors/calibration_gui.py:384: pos = self.bus.read("Present_Position", s.motor, normalize=False) lerobot/src/lerobot/motors/robstride/robstride.py:731: def read( lerobot/src/lerobot/motors/robstride/robstride.py:774: def sync_read( lerobot/src/lerobot/motors/robstride/robstride.py:895: start_positions = self.sync_read("Present_Position", target_motors) lerobot/src/lerobot/motors/robstride/robstride.py:903: positions = self.sync_read("Present_Position", target_motors) ``` ## Assistant ### Tool: read **Args:** ```json { "limit": 170, "offset": 520, "path": "lerobot/src/lerobot/motors/motors_bus.py" } ``` ## Assistant ### Tool: read **Args:** ```json { "limit": 260, "offset": 1, "path": "lerobot/src/lerobot/motors/feetech/feetech.py" } ``` ## Assistant **Result** (success): ``` raise OSError(f"Failed to open port '{self.port}'.") elif handshake: self._handshake() except (FileNotFoundError, OSError, serial.SerialException) as e: raise ConnectionError( f"\nCould not connect on port '{self.port}'. Make sure you are using the correct port." "\nTry running `lerobot-find-port`\n" ) from e @abc.abstractmethod def _handshake(self) -> None: pass @check_if_not_connected def disconnect(self, disable_torque: bool = True) -> None: """Close the serial port (optionally disabling torque first). Args: disable_torque (bool, optional): If `True` (default) torque is disabled on every motor before closing the port. This can prevent damaging motors if they are left applying resisting torque after disconnect. """ if disable_torque: self.port_handler.clearPort() self.port_handler.is_using = False self.disable_torque(num_retry=5) self.port_handler.closePort() logger.debug(f"{self.__class__.__name__} disconnected.") @classmethod def scan_port(cls, port: str, *args, **kwargs) -> dict[int, list[int]]: """Probe *port* at every supported baud-rate and list responding IDs. Args: port (str): Serial/USB port to scan (e.g. ``"/dev/ttyUSB0"``). *args, **kwargs: Forwarded to the subclass constructor. Returns: dict[int, list[int]]: Mapping *baud-rate → list of motor IDs* for every baud-rate that produced at least one response. """ bus = cls(port, {}, *args, **kwargs) bus._connect(handshake=False) baudrate_ids = {} for baudrate in tqdm(bus.available_baudrates, desc="Scanning port"): bus.set_baudrate(baudrate) ids_models = bus.broadcast_ping() if ids_models: tqdm.write(f"Motors found for {baudrate=}: {pformat(ids_models, indent=4)}") baudrate_ids[baudrate] = list(ids_models) bus.port_handler.closePort() return baudrate_ids def setup_motor( self, motor: str, initial_baudrate: int | None = None, initial_id: int | None = None ) -> None: """Assign the correct ID and baud-rate to a single motor. This helper temporarily switches to the motor's current settings, disables torque, sets the desired ID, and finally programs the bus' default baud-rate. Args: motor (str): Key of the motor in :pyattr:`motors`. initial_baudrate (int | None, optional): Current baud-rate (skips scanning when provided). Defaults to None. initial_id (int | None, optional): Current ID (skips scanning when provided). Defaults to None. Raises: RuntimeError: The motor could not be found or its model number does not match the expected one. ConnectionError: Communication with the motor failed. """ if not self.is_connected: self._connect(handshake=False) if initial_baudrate is None: initial_baudrate, initial_id = self._find_single_motor(motor) if initial_id is None: _, initial_id = self._find_single_motor(motor, initial_baudrate) model = self.motors[motor].model target_id = self.motors[motor].id self.set_baudrate(initial_baudrate) self._disable_torque(initial_id, model) # Set ID addr, length = get_address(self.model_ctrl_table, model, "ID") self._write(addr, length, initial_id, target_id) # Set Baudrate addr, length = get_address(self.model_ctrl_table, model, "Baud_Rate") baudrate_value = self.model_baudrate_table[model][self.default_baudrate] self._write(addr, length, target_id, baudrate_value) self.set_baudrate(self.default_baudrate) @abc.abstractmethod def _find_single_motor(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]: pass @abc.abstractmethod def configure_motors(self) -> None: """Write implementation-specific recommended settings to every motor. Typical changes include shortening the return delay, increasing acceleration limits or disabling safety locks. """ pass @abc.abstractmethod def disable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None: """Disable torque on selected motors. Disabling Torque allows to write to the motors' permanent memory area (EPROM/EEPROM). Args: motors ( str | list[str] | None, optional): Target motors. Accepts a motor name, an ID, a list of names or `None` to affect every registered motor. Defaults to `None`. num_retry (int, optional): Number of additional retry attempts on communication failure. Defaults to 0. """ pass @abc.abstractmethod def _disable_torque(self, motor: int, model: str, num_retry: int = 0) -> None: pass @abc.abstractmethod def enable_torque(self, motors: int | str | list[str] | None = None, num_retry: int = 0) -> None: """Enable torque on selected motors. Args: motors (int | str | list[str] | None, optional): Same semantics as :pymeth:`disable_torque`. Defaults to `None`. num_retry (int, optional): Number of additional retry attempts on communication failure. Defaults to 0. """ pass @contextmanager def torque_disabled(self, motors: str | list[str] | None = None): """Context-manager that guarantees torque is re-enabled. This helper is useful to temporarily disable torque when configuring motors. Examples: >>> with bus.torque_disabled(): ... # Safe operations here ... pass """ self.disable_torque(motors) try: yield finally: self.enable_torque(motors) def set_timeout(self, timeout_ms: int | None = None): """Change the packet timeout used by the SDK. Args: timeout_ms (int | None, optional): Timeout in *milliseconds*. If `None` (default) the method falls back to :pyattr:`default_timeout`. """ timeout_ms = timeout_ms if timeout_ms is not None else self.default_timeout self.port_handler.setPacketTimeoutMillis(timeout_ms) [592 more lines in file. Use offset=690 to continue.] ``` ## Assistant **Result** (success): ``` # Copyright 2024 The HuggingFace Inc. team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. import logging from copy import deepcopy from enum import Enum from pprint import pformat from ..encoding_utils import decode_sign_magnitude, encode_sign_magnitude from ..motors_bus import Motor, MotorCalibration, NameOrID, SerialMotorsBus, Value, get_address from .tables import ( FIRMWARE_MAJOR_VERSION, FIRMWARE_MINOR_VERSION, MODEL_BAUDRATE_TABLE, MODEL_CONTROL_TABLE, MODEL_ENCODING_TABLE, MODEL_NUMBER, MODEL_NUMBER_TABLE, MODEL_PROTOCOL, MODEL_RESOLUTION, SCAN_BAUDRATES, ) DEFAULT_PROTOCOL_VERSION = 0 DEFAULT_BAUDRATE = 1_000_000 DEFAULT_TIMEOUT_MS = 1000 NORMALIZED_DATA = ["Goal_Position", "Present_Position"] # Register addresses used for second-pass voltage diagnostics when a status packet # reports a voltage-related error bit. VOLTAGE_DIAGNOSTIC_REGISTERS = { "Status": (65, 1), "Present_Voltage": (62, 1), "Min_Voltage_Limit": (15, 1), "Max_Voltage_Limit": (14, 1), } logger = logging.getLogger(__name__) class OperatingMode(Enum): # position servo mode POSITION = 0 # The motor is in constant speed mode, which is controlled by parameter 0x2e, and the highest bit 15 is # the direction bit VELOCITY = 1 # PWM open-loop speed regulation mode, with parameter 0x2c running time parameter control, bit11 as # direction bit PWM = 2 # In step servo mode, the number of step progress is represented by parameter 0x2a, and the highest bit 15 # is the direction bit STEP = 3 class DriveMode(Enum): NON_INVERTED = 0 INVERTED = 1 class TorqueMode(Enum): ENABLED = 1 DISABLED = 0 def _split_into_byte_chunks(value: int, length: int) -> list[int]: import scservo_sdk as scs if length == 1: data = [value] elif length == 2: data = [scs.SCS_LOBYTE(value), scs.SCS_HIBYTE(value)] elif length == 4: data = [ scs.SCS_LOBYTE(scs.SCS_LOWORD(value)), scs.SCS_HIBYTE(scs.SCS_LOWORD(value)), scs.SCS_LOBYTE(scs.SCS_HIWORD(value)), scs.SCS_HIBYTE(scs.SCS_HIWORD(value)), ] return data def patch_setPacketTimeout(self, packet_length): # noqa: N802 """ HACK: This patches the PortHandler behavior to set the correct packet timeouts. It fixes https://gitee.com/ftservo/SCServoSDK/issues/IBY2S6 The bug is fixed on the official Feetech SDK repo (https://gitee.com/ftservo/FTServo_Python) but because that version is not published on PyPI, we rely on the (unofficial) on that is, which needs patching. """ self.packet_start_time = self.getCurrentTime() self.packet_timeout = (self.tx_time_per_byte * packet_length) + (self.tx_time_per_byte * 3.0) + 50 class FeetechMotorsBus(SerialMotorsBus): """ The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on the python feetech sdk to communicate with the motors, which is itself based on the dynamixel sdk. """ apply_drive_mode = True available_baudrates = deepcopy(SCAN_BAUDRATES) default_baudrate = DEFAULT_BAUDRATE default_timeout = DEFAULT_TIMEOUT_MS model_baudrate_table = deepcopy(MODEL_BAUDRATE_TABLE) model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE) model_encoding_table = deepcopy(MODEL_ENCODING_TABLE) model_number_table = deepcopy(MODEL_NUMBER_TABLE) model_resolution_table = deepcopy(MODEL_RESOLUTION) normalized_data = deepcopy(NORMALIZED_DATA) def __init__( self, port: str, motors: dict[str, Motor], calibration: dict[str, MotorCalibration] | None = None, protocol_version: int = DEFAULT_PROTOCOL_VERSION, ): super().__init__(port, motors, calibration) self.protocol_version = protocol_version self._assert_same_protocol() import scservo_sdk as scs self.port_handler = scs.PortHandler(self.port) # HACK: monkeypatch self.port_handler.setPacketTimeout = patch_setPacketTimeout.__get__( # type: ignore[method-assign] self.port_handler, scs.PortHandler ) self.packet_handler = scs.PacketHandler(protocol_version) self.sync_reader = scs.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0) self.sync_writer = scs.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0) self._comm_success = scs.COMM_SUCCESS self._no_error = 0x00 if any(MODEL_PROTOCOL[model] != self.protocol_version for model in self.models): raise ValueError(f"Some motors are incompatible with protocol_version={self.protocol_version}") def _assert_same_protocol(self) -> None: if any(MODEL_PROTOCOL[model] != self.protocol_version for model in self.models): raise RuntimeError("Some motors use an incompatible protocol.") def _assert_protocol_is_compatible(self, instruction_name: str) -> None: if instruction_name == "sync_read" and self.protocol_version == 1: raise NotImplementedError( "'Sync Read' is not available with Feetech motors using Protocol 1. Use 'Read' sequentially instead." ) if instruction_name == "broadcast_ping" and self.protocol_version == 1: raise NotImplementedError( "'Broadcast Ping' is not available with Feetech motors using Protocol 1. Use 'Ping' sequentially instead." ) def _assert_same_firmware(self) -> None: firmware_versions = self._read_firmware_version(self.ids, raise_on_error=True) if len(set(firmware_versions.values())) != 1: raise RuntimeError( "Some Motors use different firmware versions:" f"\n{pformat(firmware_versions)}\n" "Update their firmware first using Feetech's software. " "Visit https://www.feetechrc.com/software." ) def _handshake(self) -> None: self._assert_motors_exist() self._assert_same_firmware() def _find_single_motor(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]: if self.protocol_version == 0: return self._find_single_motor_p0(motor, initial_baudrate) else: return self._find_single_motor_p1(motor, initial_baudrate) def _find_single_motor_p0(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]: model = self.motors[motor].model search_baudrates = ( [initial_baudrate] if initial_baudrate is not None else self.model_baudrate_table[model] ) expected_model_nb = self.model_number_table[model] for baudrate in search_baudrates: self.set_baudrate(baudrate) id_model = self.broadcast_ping() if id_model: found_id, found_model = next(iter(id_model.items())) if found_model != expected_model_nb: raise RuntimeError( f"Found one motor on {baudrate=} with id={found_id} but it has a " f"model number '{found_model}' different than the one expected: '{expected_model_nb}'. " f"Make sure you are connected only connected to the '{motor}' motor (model '{model}')." ) return baudrate, found_id raise RuntimeError(f"Motor '{motor}' (model '{model}') was not found. Make sure it is connected.") def _find_single_motor_p1(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]: import scservo_sdk as scs model = self.motors[motor].model search_baudrates = ( [initial_baudrate] if initial_baudrate is not None else self.model_baudrate_table[model] ) expected_model_nb = self.model_number_table[model] for baudrate in search_baudrates: self.set_baudrate(baudrate) for id_ in range(scs.MAX_ID + 1): found_model = self.ping(id_) if found_model is not None: if found_model != expected_model_nb: raise RuntimeError( f"Found one motor on {baudrate=} with id={id_} but it has a " f"model number '{found_model}' different than the one expected: '{expected_model_nb}'. " f"Make sure you are connected only connected to the '{motor}' motor (model '{model}')." ) return baudrate, id_ raise RuntimeError(f"Motor '{motor}' (model '{model}') was not found. Make sure it is connected.") def configure_motors(self, return_delay_time=0, maximum_acceleration=254, acceleration=254) -> None: for motor in self.motors: # By default, Feetech motors have a 500µs delay response time (corresponding to a value of 250 on # the 'Return_Delay_Time' address). We ensure this is reduced to the minimum of 2µs (value of 0). self.write("Return_Delay_Time", motor, return_delay_time) # Set 'Maximum_Acceleration' to 254 to speedup acceleration and deceleration of the motors. if self.protocol_version == 0: self.write("Maximum_Acceleration", motor, maximum_acceleration) self.write("Acceleration", motor, acceleration) @property def is_calibrated(self) -> bool: motors_calibration = self.read_calibration() if set(motors_calibration) != set(self.calibration): return False same_ranges = all( self.calibration[motor].range_min == cal.range_min and self.calibration[motor].range_max == cal.range_max for motor, cal in motors_calibration.items() ) if self.protocol_version == 1: return same_ranges same_offsets = all( self.calibration[motor].homing_offset == cal.homing_offset for motor, cal in motors_calibration.items() ) return same_ranges and same_offsets def read_calibration(self) -> dict[str, MotorCalibration]: [238 more lines in file. Use offset=261 to continue.] ``` ## Assistant ### Tool: read **Args:** ```json { "limit": 320, "offset": 260, "path": "lerobot/src/lerobot/motors/feetech/feetech.py" } ``` ## Assistant **Result** (success): ``` def read_calibration(self) -> dict[str, MotorCalibration]: offsets, mins, maxes = {}, {}, {} for motor in self.motors: mins[motor] = self.read("Min_Position_Limit", motor, normalize=False) maxes[motor] = self.read("Max_Position_Limit", motor, normalize=False) offsets[motor] = ( self.read("Homing_Offset", motor, normalize=False) if self.protocol_version == 0 else 0 ) calibration = {} for motor, m in self.motors.items(): calibration[motor] = MotorCalibration( id=m.id, drive_mode=0, homing_offset=int(offsets[motor]), range_min=int(mins[motor]), range_max=int(maxes[motor]), ) return calibration def write_calibration(self, calibration_dict: dict[str, MotorCalibration], cache: bool = True) -> None: for motor, calibration in calibration_dict.items(): if self.protocol_version == 0: self.write("Homing_Offset", motor, calibration.homing_offset) self.write("Min_Position_Limit", motor, calibration.range_min) self.write("Max_Position_Limit", motor, calibration.range_max) if cache: self.calibration = calibration_dict def _get_half_turn_homings(self, positions: dict[NameOrID, Value]) -> dict[NameOrID, Value]: """ On Feetech Motors: Present_Position = Actual_Position - Homing_Offset """ half_turn_homings: dict[NameOrID, Value] = {} for motor, pos in positions.items(): model = self._get_motor_model(motor) max_res = self.model_resolution_table[model] - 1 half_turn_homings[motor] = pos - int(max_res / 2) return half_turn_homings def disable_torque(self, motors: int | str | list[str] | None = None, num_retry: int = 0) -> None: for motor in self._get_motors_list(motors): self.write("Torque_Enable", motor, TorqueMode.DISABLED.value, num_retry=num_retry) self.write("Lock", motor, 0, num_retry=num_retry) def _disable_torque(self, motor: int, model: str, num_retry: int = 0) -> None: addr, length = get_address(self.model_ctrl_table, model, "Torque_Enable") self._write(addr, length, motor, TorqueMode.DISABLED.value, num_retry=num_retry) addr, length = get_address(self.model_ctrl_table, model, "Lock") self._write(addr, length, motor, 0, num_retry=num_retry) def enable_torque(self, motors: int | str | list[str] | None = None, num_retry: int = 0) -> None: for motor in self._get_motors_list(motors): self.write("Torque_Enable", motor, TorqueMode.ENABLED.value, num_retry=num_retry) self.write("Lock", motor, 1, num_retry=num_retry) def _encode_sign(self, data_name: str, ids_values: dict[int, int]) -> dict[int, int]: for id_ in ids_values: model = self._id_to_model(id_) encoding_table = self.model_encoding_table.get(model) if encoding_table and data_name in encoding_table: sign_bit = encoding_table[data_name] ids_values[id_] = encode_sign_magnitude(ids_values[id_], sign_bit) return ids_values def _decode_sign(self, data_name: str, ids_values: dict[int, int]) -> dict[int, int]: for id_ in ids_values: model = self._id_to_model(id_) encoding_table = self.model_encoding_table.get(model) if encoding_table and data_name in encoding_table: sign_bit = encoding_table[data_name] ids_values[id_] = decode_sign_magnitude(ids_values[id_], sign_bit) return ids_values def _split_into_byte_chunks(self, value: int, length: int) -> list[int]: return _split_into_byte_chunks(value, length) def _broadcast_ping(self) -> tuple[dict[int, int], int]: import scservo_sdk as scs data_list: dict[int, int] = {} status_length = 6 rx_length = 0 wait_length = status_length * scs.MAX_ID txpacket = [0] * 6 tx_time_per_byte = (1000.0 / self.port_handler.getBaudRate()) * 10.0 txpacket[scs.PKT_ID] = scs.BROADCAST_ID txpacket[scs.PKT_LENGTH] = 2 txpacket[scs.PKT_INSTRUCTION] = scs.INST_PING result = self.packet_handler.txPacket(self.port_handler, txpacket) if result != scs.COMM_SUCCESS: self.port_handler.is_using = False return data_list, result # set rx timeout self.port_handler.setPacketTimeoutMillis((wait_length * tx_time_per_byte) + (3.0 * scs.MAX_ID) + 16.0) rxpacket = [] while not self.port_handler.isPacketTimeout() and rx_length < wait_length: rxpacket += self.port_handler.readPort(wait_length - rx_length) rx_length = len(rxpacket) self.port_handler.is_using = False if rx_length == 0: return data_list, scs.COMM_RX_TIMEOUT while True: if rx_length < status_length: return data_list, scs.COMM_RX_CORRUPT # find packet header for idx in range(0, (rx_length - 1)): if (rxpacket[idx] == 0xFF) and (rxpacket[idx + 1] == 0xFF): break if idx == 0: # found at the beginning of the packet # calculate checksum checksum = 0 for idx in range(2, status_length - 1): # except header & checksum checksum += rxpacket[idx] checksum = ~checksum & 0xFF if rxpacket[status_length - 1] == checksum: result = scs.COMM_SUCCESS data_list[rxpacket[scs.PKT_ID]] = rxpacket[scs.PKT_ERROR] del rxpacket[0:status_length] rx_length = rx_length - status_length if rx_length == 0: return data_list, result else: result = scs.COMM_RX_CORRUPT # remove header (0xFF 0xFF) del rxpacket[0:2] rx_length = rx_length - 2 else: # remove unnecessary packets del rxpacket[0:idx] rx_length = rx_length - idx def _has_voltage_error(self, error: int) -> bool: import scservo_sdk as scs return bool(error & scs.ERRBIT_VOLTAGE) def _read_voltage_diagnostics(self, motor_ids: list[int]) -> dict[int, dict[str, dict[str, int | float | str]]]: """Best-effort, read-only diagnostics for voltage-related status errors.""" diagnostics = {} for id_ in motor_ids: diagnostics[id_] = {} for reg_name, (addr, length) in VOLTAGE_DIAGNOSTIC_REGISTERS.items(): value, comm, error = self._read(addr, length, id_, raise_on_error=False) entry: dict[str, int | float | str] = { "value": int(value), "comm": self.packet_handler.getTxRxResult(comm), "error": self.packet_handler.getRxPacketError(error), "error_raw": f"0x{error:02X}", } if "Voltage" in reg_name: entry["volts"] = round(value / 10.0, 2) diagnostics[id_][reg_name] = entry return diagnostics def broadcast_ping(self, num_retry: int = 0, raise_on_error: bool = False) -> dict[int, int] | None: self._assert_protocol_is_compatible("broadcast_ping") for n_try in range(1 + num_retry): ids_status, comm = self._broadcast_ping() if self._is_comm_success(comm): break logger.debug(f"Broadcast ping failed on port '{self.port}' ({n_try=})") logger.debug(self.packet_handler.getTxRxResult(comm)) if not self._is_comm_success(comm): if raise_on_error: raise ConnectionError(self.packet_handler.getTxRxResult(comm)) return None ids_errors = {id_: status for id_, status in ids_status.items() if self._is_error(status)} if ids_errors: display_dict = {id_: self.packet_handler.getRxPacketError(err) for id_, err in ids_errors.items()} logger.error(f"Some motors found returned an error status:\n{pformat(display_dict, indent=4)}") voltage_error_ids = [id_ for id_, err in ids_errors.items() if self._has_voltage_error(err)] if voltage_error_ids: logger.error( "Voltage-related motor error(s) detected on ids=%s. " "Collecting additional read-only diagnostics...", voltage_error_ids, ) diagnostics = self._read_voltage_diagnostics(voltage_error_ids) logger.error("Additional voltage diagnostics:\n%s", pformat(diagnostics, indent=4)) return self._read_model_number(list(ids_status), raise_on_error) def _read_firmware_version(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, str]: firmware_versions = {} for id_ in motor_ids: firm_ver_major, comm, error = self._read( *FIRMWARE_MAJOR_VERSION, id_, raise_on_error=raise_on_error ) if not self._is_comm_success(comm) or self._is_error(error): continue firm_ver_minor, comm, error = self._read( *FIRMWARE_MINOR_VERSION, id_, raise_on_error=raise_on_error ) if not self._is_comm_success(comm) or self._is_error(error): continue firmware_versions[id_] = f"{firm_ver_major}.{firm_ver_minor}" return firmware_versions def _read_model_number(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, int]: model_numbers = {} for id_ in motor_ids: model_nb, comm, error = self._read(*MODEL_NUMBER, id_, raise_on_error=raise_on_error) if not self._is_comm_success(comm) or self._is_error(error): continue model_numbers[id_] = model_nb return model_numbers ``` ## Assistant ### Tool: read **Args:** ```json { "path": "lerobot/src/lerobot/motors/feetech/tables.py" } ``` ## Assistant **Result** (success): ``` # Copyright 2024 The HuggingFace Inc. team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. FIRMWARE_MAJOR_VERSION = (0, 1) FIRMWARE_MINOR_VERSION = (1, 1) MODEL_NUMBER = (3, 2) # TODO(Steven): Consider doing the following: # from enum import Enum # class MyControlTableKey(Enum): # ID = "ID" # GOAL_SPEED = "Goal_Speed" # ... # # MY_CONTROL_TABLE ={ # MyControlTableKey.ID.value: (5,1) # MyControlTableKey.GOAL_SPEED.value: (46, 2) # ... # } # This allows me do to: # bus.write(MyControlTableKey.GOAL_SPEED, ...) # Instead of: # bus.write("Goal_Speed", ...) # This is important for two reasons: # 1. The linter will tell me if I'm trying to use an invalid key, instead of me realizing when I get the RunTimeError # 2. We can change the value of the MyControlTableKey enums without impacting the client code # data_name: (address, size_byte) # http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0 STS_SMS_SERIES_CONTROL_TABLE = { # EPROM "Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # read-only "Firmware_Minor_Version": FIRMWARE_MINOR_VERSION, # read-only "Model_Number": MODEL_NUMBER, # read-only "ID": (5, 1), "Baud_Rate": (6, 1), "Return_Delay_Time": (7, 1), "Response_Status_Level": (8, 1), "Min_Position_Limit": (9, 2), "Max_Position_Limit": (11, 2), "Max_Temperature_Limit": (13, 1), "Max_Voltage_Limit": (14, 1), "Min_Voltage_Limit": (15, 1), "Max_Torque_Limit": (16, 2), "Phase": (18, 1), "Unloading_Condition": (19, 1), "LED_Alarm_Condition": (20, 1), "P_Coefficient": (21, 1), "D_Coefficient": (22, 1), "I_Coefficient": (23, 1), "Minimum_Startup_Force": (24, 2), "CW_Dead_Zone": (26, 1), "CCW_Dead_Zone": (27, 1), "Protection_Current": (28, 2), "Angular_Resolution": (30, 1), "Homing_Offset": (31, 2), "Operating_Mode": (33, 1), "Protective_Torque": (34, 1), "Protection_Time": (35, 1), "Overload_Torque": (36, 1), "Velocity_closed_loop_P_proportional_coefficient": (37, 1), "Over_Current_Protection_Time": (38, 1), "Velocity_closed_loop_I_integral_coefficient": (39, 1), # SRAM "Torque_Enable": (40, 1), "Acceleration": (41, 1), "Goal_Position": (42, 2), "Goal_Time": (44, 2), "Goal_Velocity": (46, 2), "Torque_Limit": (48, 2), "Lock": (55, 1), "Present_Position": (56, 2), # read-only "Present_Velocity": (58, 2), # read-only "Present_Load": (60, 2), # read-only "Present_Voltage": (62, 1), # read-only "Present_Temperature": (63, 1), # read-only "Status": (65, 1), # read-only "Moving": (66, 1), # read-only "Present_Current": (69, 2), # read-only "Goal_Position_2": (71, 2), # read-only # Factory "Moving_Velocity": (80, 1), "Moving_Velocity_Threshold": (80, 1), "DTs": (81, 1), # (ms) "Velocity_Unit_factor": (82, 1), "Hts": (83, 1), # (ns) valid for firmware >= 2.54, other versions keep 0 "Maximum_Velocity_Limit": (84, 1), "Maximum_Acceleration": (85, 1), "Acceleration_Multiplier ": (86, 1), # Acceleration multiplier in effect when acceleration is 0 } # http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SCSCL-emanual-cbcc8ab2e3384282a01d4bf3 SCS_SERIES_CONTROL_TABLE = { # EPROM "Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # read-only "Firmware_Minor_Version": FIRMWARE_MINOR_VERSION, # read-only "Model_Number": MODEL_NUMBER, # read-only "ID": (5, 1), "Baud_Rate": (6, 1), "Return_Delay_Time": (7, 1), "Response_Status_Level": (8, 1), "Min_Position_Limit": (9, 2), "Max_Position_Limit": (11, 2), "Max_Temperature_Limit": (13, 1), "Max_Voltage_Limit": (14, 1), "Min_Voltage_Limit": (15, 1), "Max_Torque_Limit": (16, 2), "Phase": (18, 1), "Unloading_Condition": (19, 1), "LED_Alarm_Condition": (20, 1), "P_Coefficient": (21, 1), "D_Coefficient": (22, 1), "I_Coefficient": (23, 1), "Minimum_Startup_Force": (24, 2), "CW_Dead_Zone": (26, 1), "CCW_Dead_Zone": (27, 1), "Protective_Torque": (37, 1), "Protection_Time": (38, 1), # SRAM "Torque_Enable": (40, 1), "Acceleration": (41, 1), "Goal_Position": (42, 2), "Running_Time": (44, 2), "Goal_Velocity": (46, 2), "Lock": (48, 1), "Present_Position": (56, 2), # read-only "Present_Velocity": (58, 2), # read-only "Present_Load": (60, 2), # read-only "Present_Voltage": (62, 1), # read-only "Present_Temperature": (63, 1), # read-only "Sync_Write_Flag": (64, 1), # read-only "Status": (65, 1), # read-only "Moving": (66, 1), # read-only # Factory "PWM_Maximum_Step": (78, 1), "Moving_Velocity_Threshold*50": (79, 1), "DTs": (80, 1), # (ms) "Minimum_Velocity_Limit*50": (81, 1), "Maximum_Velocity_Limit*50": (82, 1), "Acceleration_2": (83, 1), # don't know what that is } STS_SMS_SERIES_BAUDRATE_TABLE = { 1_000_000: 0, 500_000: 1, 250_000: 2, 128_000: 3, 115_200: 4, 57_600: 5, 38_400: 6, 19_200: 7, } SCS_SERIES_BAUDRATE_TABLE = { 1_000_000: 0, 500_000: 1, 250_000: 2, 128_000: 3, 115_200: 4, 57_600: 5, 38_400: 6, 19_200: 7, } MODEL_CONTROL_TABLE = { "sts_series": STS_SMS_SERIES_CONTROL_TABLE, "scs_series": SCS_SERIES_CONTROL_TABLE, "sms_series": STS_SMS_SERIES_CONTROL_TABLE, "sts3215": STS_SMS_SERIES_CONTROL_TABLE, "sts3250": STS_SMS_SERIES_CONTROL_TABLE, "scs0009": SCS_SERIES_CONTROL_TABLE, "sm8512bl": STS_SMS_SERIES_CONTROL_TABLE, } MODEL_RESOLUTION = { "sts_series": 4096, "sms_series": 4096, "scs_series": 1024, "sts3215": 4096, "sts3250": 4096, "sm8512bl": 4096, "scs0009": 1024, } MODEL_BAUDRATE_TABLE = { "sts_series": STS_SMS_SERIES_BAUDRATE_TABLE, "sms_series": STS_SMS_SERIES_BAUDRATE_TABLE, "scs_series": SCS_SERIES_BAUDRATE_TABLE, "sm8512bl": STS_SMS_SERIES_BAUDRATE_TABLE, "sts3215": STS_SMS_SERIES_BAUDRATE_TABLE, "sts3250": STS_SMS_SERIES_BAUDRATE_TABLE, "scs0009": SCS_SERIES_BAUDRATE_TABLE, } # Sign-Magnitude encoding bits STS_SMS_SERIES_ENCODINGS_TABLE = { "Present_Load": 10, "Homing_Offset": 11, "Goal_Position": 15, "Goal_Velocity": 15, "Goal_Speed": 15, "Present_Position": 15, "Present_Velocity": 15, "Present_Speed": 15, } MODEL_ENCODING_TABLE = { "sts_series": STS_SMS_SERIES_ENCODINGS_TABLE, "sms_series": STS_SMS_SERIES_ENCODINGS_TABLE, "scs_series": {}, "sts3215": STS_SMS_SERIES_ENCODINGS_TABLE, "sts3250": STS_SMS_SERIES_ENCODINGS_TABLE, "sm8512bl": STS_SMS_SERIES_ENCODINGS_TABLE, "scs0009": {}, } SCAN_BAUDRATES = [ 4_800, 9_600, 14_400, 19_200, 38_400, 57_600, 115_200, 128_000, 250_000, 500_000, 1_000_000, ] MODEL_NUMBER_TABLE = { "sts3215": 777, "sts3250": 2825, "sm8512bl": 11272, "scs0009": 1284, } MODEL_PROTOCOL = { "sts_series": 0, "sms_series": 0, "scs_series": 1, "sts3215": 0, "sts3250": 0, "sm8512bl": 0, "scs0009": 1, } ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "ls -la scripts && find scripts -maxdepth 2 -type f" } ``` ## Assistant **Result** (success): ``` total 16 drwxr-xr-x@ 3 mukund staff 96 Mar 18 04:16 . drwxr-xr-x@ 6 mukund staff 192 Mar 18 04:16 .. -rw-r--r--@ 1 mukund staff 6892 Mar 18 04:16 inspect_feetech_voltage_readonly.py scripts/inspect_feetech_voltage_readonly.py ``` ## Assistant ### Tool: read **Args:** ```json { "limit": 150, "offset": 940, "path": "lerobot/src/lerobot/motors/motors_bus.py" } ``` ## Assistant **Result** (success): ``` Returns: int | None: Motor model number or `None` on failure. """ id_ = self._get_motor_id(motor) for n_try in range(1 + num_retry): model_number, comm, error = self.packet_handler.ping(self.port_handler, id_) if self._is_comm_success(comm): break logger.debug(f"ping failed for {id_=}: {n_try=} got {comm=} {error=}") if not self._is_comm_success(comm): if raise_on_error: raise ConnectionError(self.packet_handler.getTxRxResult(comm)) else: return None if self._is_error(error): if raise_on_error: raise RuntimeError(self.packet_handler.getRxPacketError(error)) else: return None return model_number @abc.abstractmethod def broadcast_ping(self, num_retry: int = 0, raise_on_error: bool = False) -> dict[int, int] | None: """Ping every ID on the bus using the broadcast address. Args: num_retry (int, optional): Retry attempts. Defaults to `0`. raise_on_error (bool, optional): When `True` failures raise an exception instead of returning `None`. Defaults to `False`. Returns: dict[int, int] | None: Mapping *id → model number* or `None` if the call failed. """ pass @check_if_not_connected def read( self, data_name: str, motor: str, *, normalize: bool = True, num_retry: int = 0, ) -> Value: """Read a register from a motor. Args: data_name (str): Control-table key (e.g. `"Present_Position"`). motor (str): Motor name. normalize (bool, optional): When `True` (default) scale the value to a user-friendly range as defined by the calibration. num_retry (int, optional): Retry attempts. Defaults to `0`. Returns: Value: Raw or normalised value depending on *normalize*. """ id_ = self.motors[motor].id model = self.motors[motor].model addr, length = get_address(self.model_ctrl_table, model, data_name) err_msg = f"Failed to read '{data_name}' on {id_=} after {num_retry + 1} tries." value, _, _ = self._read(addr, length, id_, num_retry=num_retry, raise_on_error=True, err_msg=err_msg) decoded = self._decode_sign(data_name, {id_: value}) if normalize and data_name in self.normalized_data: normalized = self._normalize(decoded) return normalized[id_] return decoded[id_] def _read( self, address: int, length: int, motor_id: int, *, num_retry: int = 0, raise_on_error: bool = True, err_msg: str = "", ) -> tuple[int, int, int]: if length == 1: read_fn = self.packet_handler.read1ByteTxRx elif length == 2: read_fn = self.packet_handler.read2ByteTxRx elif length == 4: read_fn = self.packet_handler.read4ByteTxRx else: raise ValueError(length) for n_try in range(1 + num_retry): value, comm, error = read_fn(self.port_handler, motor_id, address) if self._is_comm_success(comm): break logger.debug( f"Failed to read @{address=} ({length=}) on {motor_id=} ({n_try=}): " + self.packet_handler.getTxRxResult(comm) ) if not self._is_comm_success(comm) and raise_on_error: raise ConnectionError(f"{err_msg} {self.packet_handler.getTxRxResult(comm)}") elif self._is_error(error) and raise_on_error: raise RuntimeError(f"{err_msg} {self.packet_handler.getRxPacketError(error)}") return value, comm, error @check_if_not_connected def write( self, data_name: str, motor: str, value: Value, *, normalize: bool = True, num_retry: int = 0 ) -> None: """Write a value to a single motor's register. Contrary to :pymeth:`sync_write`, this expects a response status packet emitted by the motor, which provides a guarantee that the value was written to the register successfully. In consequence, it is slower than :pymeth:`sync_write` but it is more reliable. It should typically be used when configuring motors. Args: data_name (str): Register name. motor (str): Motor name. value (Value): Value to write. If *normalize* is `True` the value is first converted to raw units. normalize (bool, optional): Enable or disable normalisation. Defaults to `True`. num_retry (int, optional): Retry attempts. Defaults to `0`. """ id_ = self.motors[motor].id model = self.motors[motor].model addr, length = get_address(self.model_ctrl_table, model, data_name) int_value = int(value) if normalize and data_name in self.normalized_data: int_value = self._unnormalize({id_: value})[id_] int_value = self._encode_sign(data_name, {id_: int_value})[id_] err_msg = f"Failed to write '{data_name}' on {id_=} with '{int_value}' after {num_retry + 1} tries." self._write(addr, length, id_, int_value, num_retry=num_retry, raise_on_error=True, err_msg=err_msg) def _write( self, addr: int, length: int, motor_id: int, value: int, *, [192 more lines in file. Use offset=1090 to continue.] ``` ## Assistant ### Tool: read **Args:** ```json { "path": "scripts/inspect_feetech_voltage_readonly.py" } ``` ## Assistant **Result** (success): ``` #!/usr/bin/env python3 """ Read-only Feetech/STS motor inspector for voltage-related diagnostics. This script DOES NOT write anything to motors. It only sends ping/read instructions and prints raw + decoded status. Example: python scripts/inspect_feetech_voltage_readonly.py \ --port /dev/tty.usbmodem59710814421 \ --baudrate 1000000 \ --protocol 0 If you already know the motor ID: python scripts/inspect_feetech_voltage_readonly.py \ --port /dev/tty.usbmodem59710814421 \ --id 1 """ from __future__ import annotations import argparse from dataclasses import dataclass import scservo_sdk as scs # Reuse LeRobot's timeout patch and control table definitions from lerobot.motors.feetech.feetech import patch_setPacketTimeout from lerobot.motors.feetech.tables import STS_SMS_SERIES_CONTROL_TABLE @dataclass class ReadResult: value: int comm: int error: int def decode_error_bits(error: int) -> list[str]: # SDK constants live in scservo_sdk.protocol_packet_handler.py bits = [ (getattr(scs, "ERRBIT_VOLTAGE", 1), "Input voltage"), (getattr(scs, "ERRBIT_ANGLE", 2), "Angle"), (getattr(scs, "ERRBIT_OVERHEAT", 4), "Overheat"), (getattr(scs, "ERRBIT_OVERELE", 8), "Over-current/over-ele"), (getattr(scs, "ERRBIT_OVERLOAD", 32), "Overload"), ] return [name for bit, name in bits if error & bit] def read_reg(packet_handler, port_handler, motor_id: int, addr: int, length: int) -> ReadResult: if length == 1: value, comm, error = packet_handler.read1ByteTxRx(port_handler, motor_id, addr) elif length == 2: value, comm, error = packet_handler.read2ByteTxRx(port_handler, motor_id, addr) elif length == 4: value, comm, error = packet_handler.read4ByteTxRx(port_handler, motor_id, addr) else: raise ValueError(f"Unsupported register size: {length}") return ReadResult(value=value, comm=comm, error=error) def fmt_comm(packet_handler, comm: int) -> str: return packet_handler.getTxRxResult(comm) def fmt_err(packet_handler, error: int) -> str: if error == 0: return "none" primary = packet_handler.getRxPacketError(error) all_flags = decode_error_bits(error) return f"{primary} | all_flags={all_flags} | raw=0x{error:02X}" def scan_ids(packet_handler, port_handler, max_id: int) -> list[tuple[int, int, int, int]]: found = [] for motor_id in range(max_id + 1): model, comm, error = packet_handler.ping(port_handler, motor_id) if comm == scs.COMM_SUCCESS: found.append((motor_id, model, comm, error)) return found def main() -> None: parser = argparse.ArgumentParser(description="Read-only Feetech voltage/error inspector") parser.add_argument("--port", required=True, help="Serial port (e.g. /dev/tty.usbmodemXXXX)") parser.add_argument("--baudrate", type=int, default=1_000_000) parser.add_argument("--protocol", type=int, default=0, choices=[0, 1]) parser.add_argument("--timeout-ms", type=int, default=1000) parser.add_argument("--id", type=int, default=None, help="Specific motor ID to inspect") parser.add_argument("--scan-max-id", type=int, default=20, help="ID scan upper bound when --id not given") args = parser.parse_args() port_handler = scs.PortHandler(args.port) # Same monkeypatch LeRobot applies, keeps timeout behavior sane for this SDK build port_handler.setPacketTimeout = patch_setPacketTimeout.__get__(port_handler, scs.PortHandler) packet_handler = scs.PacketHandler(args.protocol) if not port_handler.openPort(): raise SystemExit(f"Failed to open port: {args.port}") try: if not port_handler.setBaudRate(args.baudrate): raise SystemExit(f"Failed to set baudrate: {args.baudrate}") port_handler.setPacketTimeoutMillis(args.timeout_ms) print("=== Bus ===") print(f"port : {args.port}") print(f"baudrate : {port_handler.getBaudRate()}") print(f"protocol : {args.protocol}") print(f"timeout_ms : {args.timeout_ms}") if args.id is None: print(f"\n=== Scanning IDs 0..{args.scan_max_id} (read-only ping) ===") found = scan_ids(packet_handler, port_handler, args.scan_max_id) if not found: print("No responding IDs found in scan range.") return for motor_id, model, comm, error in found: print( f"ID {motor_id:3d} | model={model:5d} | comm={fmt_comm(packet_handler, comm)} " f"| ping_error={fmt_err(packet_handler, error)}" ) target_ids = [m[0] for m in found] else: model, comm, error = packet_handler.ping(port_handler, args.id) print("\n=== Single-ID ping ===") print( f"ID {args.id:3d} | model={model:5d} | comm={fmt_comm(packet_handler, comm)} " f"| ping_error={fmt_err(packet_handler, error)}" ) if comm != scs.COMM_SUCCESS: return target_ids = [args.id] regs = [ ("Status", *STS_SMS_SERIES_CONTROL_TABLE["Status"]), ("Present_Voltage", *STS_SMS_SERIES_CONTROL_TABLE["Present_Voltage"]), ("Min_Voltage_Limit", *STS_SMS_SERIES_CONTROL_TABLE["Min_Voltage_Limit"]), ("Max_Voltage_Limit", *STS_SMS_SERIES_CONTROL_TABLE["Max_Voltage_Limit"]), ("Present_Temperature", *STS_SMS_SERIES_CONTROL_TABLE["Present_Temperature"]), ("Present_Current", *STS_SMS_SERIES_CONTROL_TABLE["Present_Current"]), ("Unloading_Condition", *STS_SMS_SERIES_CONTROL_TABLE["Unloading_Condition"]), ("LED_Alarm_Condition", *STS_SMS_SERIES_CONTROL_TABLE["LED_Alarm_Condition"]), ] print("\n=== Register reads (read-only) ===") for motor_id in target_ids: print(f"\n-- ID {motor_id} --") for name, addr, length in regs: rr = read_reg(packet_handler, port_handler, motor_id, addr, length) # Common unit hints from Feetech docs: # - Present_Voltage / Min/Max_Voltage_Limit are typically in 0.1V units. unit_hint = "" if "Voltage" in name: unit_hint = f" (~{rr.value / 10:.1f}V if 0.1V units)" elif "Temperature" in name: unit_hint = f" (~{rr.value}°C)" print( f"{name:22s} addr={addr:>3} len={length} value={rr.value:>5}{unit_hint} " f"| comm={fmt_comm(packet_handler, rr.comm)} " f"| error={fmt_err(packet_handler, rr.error)}" ) finally: port_handler.closePort() print("\nPort closed.") if __name__ == "__main__": main() ``` ## Assistant ### Tool: read **Args:** ```json { "path": "lerobot/src/lerobot/robots/so_follower/config_so_follower.py" } ``` ## Assistant **Result** (success): ``` #!/usr/bin/env python # Copyright 2025 The HuggingFace Inc. team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. from dataclasses import dataclass, field from lerobot.cameras import CameraConfig from ..config import RobotConfig @dataclass class SOFollowerConfig: """Base configuration class for SO Follower robots.""" # Port to connect to the arm port: str disable_torque_on_disconnect: bool = True # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor # names to the max_relative_target value for that motor. max_relative_target: float | dict[str, float] | None = None # cameras cameras: dict[str, CameraConfig] = field(default_factory=dict) # Set to `True` for backward compatibility with previous policies/dataset use_degrees: bool = True @RobotConfig.register_subclass("so101_follower") @RobotConfig.register_subclass("so100_follower") @dataclass class SOFollowerRobotConfig(RobotConfig, SOFollowerConfig): pass SO100FollowerConfig = SOFollowerRobotConfig SO101FollowerConfig = SOFollowerRobotConfig ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "rg -n \"def is_connected|@property\\n\\s+def is_connected\" lerobot/src/lerobot/motors/motors_bus.py" } ``` ## Assistant **Result** (error): ``` rg: the literal "\n" is not allowed in a regex Consider enabling multiline mode with the --multiline flag (or -U for short). When multiline mode is enabled, new line characters can be matched. Command exited with code 2 ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "rg -n \"is_connected\" lerobot/src/lerobot/motors/motors_bus.py" } ``` ## Assistant **Result** (success): ``` 77: def is_connected(self) -> bool: 496: def is_connected(self) -> bool: 595: if not self.is_connected: ``` ## Assistant ### Tool: read **Args:** ```json { "limit": 50, "offset": 470, "path": "lerobot/src/lerobot/motors/motors_bus.py" } ``` ## Assistant **Result** (success): ``` if missing_ids: error_lines.append("\nMissing motor IDs:") error_lines.extend( f" - {id_} (expected model: {expected_models[id_]})" for id_ in missing_ids ) if wrong_models: error_lines.append("\nMotors with incorrect model numbers:") error_lines.extend( f" - {id_} ({self._id_to_name(id_)}): expected {expected}, found {found}" for id_, (expected, found) in wrong_models.items() ) error_lines.append("\nFull expected motor list (id: model_number):") error_lines.append(pformat(expected_models, indent=4, sort_dicts=False)) error_lines.append("\nFull found motor list (id: model_number):") error_lines.append(pformat(found_models, indent=4, sort_dicts=False)) raise RuntimeError("\n".join(error_lines)) @abc.abstractmethod def _assert_protocol_is_compatible(self, instruction_name: str) -> None: pass @property def is_connected(self) -> bool: """bool: `True` if the underlying serial port is open.""" return self.port_handler.is_open @check_if_already_connected def connect(self, handshake: bool = True) -> None: """Open the serial port and initialise communication. Args: handshake (bool, optional): Pings every expected motor and performs additional integrity checks specific to the implementation. Defaults to `True`. Raises: DeviceAlreadyConnectedError: The port is already open. ConnectionError: The underlying SDK failed to open the port or the handshake did not succeed. """ self._connect(handshake) self.set_timeout() logger.debug(f"{self.__class__.__name__} connected.") def _connect(self, handshake: bool = True) -> None: try: if not self.port_handler.openPort(): [762 more lines in file. Use offset=520 to continue.] ``` ## Assistant ### Tool: write **Args:** ```json { "content": "#!/usr/bin/env python3\n\"\"\"\nRead-only motor connectivity + details inspector, modeled after `lerobot-setup-motors`.\n\nExample:\n python scripts/lerobot_check_motor_details.py \\\n --robot.type=so101_follower \\\n --robot.port=/dev/tty.usbmodem59700737971\n\"\"\"\n\nfrom __future__ import annotations\n\nfrom dataclasses import dataclass\nfrom pathlib import Path\nfrom pprint import pformat\nimport sys\n\nimport draccus\n\n# Allow running from repo root without requiring editable install.\nREPO_ROOT = Path(__file__).resolve().parents[1]\nLOCAL_SRC = REPO_ROOT / \"lerobot\" / \"src\"\nif LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path:\n sys.path.insert(0, str(LOCAL_SRC))\n\nfrom lerobot.motors.motors_bus import get_address\nfrom lerobot.robots import ( # noqa: F401\n RobotConfig,\n bi_so_follower,\n koch_follower,\n lekiwi,\n make_robot_from_config,\n omx_follower,\n so_follower,\n)\nfrom lerobot.teleoperators import ( # noqa: F401\n TeleoperatorConfig,\n bi_so_leader,\n koch_leader,\n make_teleoperator_from_config,\n omx_leader,\n openarm_mini,\n so_leader,\n)\n\nCOMPATIBLE_DEVICES = [\n \"koch_follower\",\n \"koch_leader\",\n \"omx_follower\",\n \"omx_leader\",\n \"openarm_mini\",\n \"so100_follower\",\n \"so100_leader\",\n \"so101_follower\",\n \"so101_leader\",\n \"lekiwi\",\n]\n\n\n@dataclass\nclass InspectConfig:\n teleop: TeleoperatorConfig | None = None\n robot: RobotConfig | None = None\n\n def __post_init__(self):\n if bool(self.teleop) == bool(self.robot):\n raise ValueError(\"Choose either a teleop or a robot.\")\n self.device = self.robot if self.robot else self.teleop\n\n\ndef _read_register(bus, model: str, motor_id: int, reg_name: str) -> dict:\n addr, length = get_address(bus.model_ctrl_table, model, reg_name)\n value, comm, error = bus._read(addr, length, motor_id, raise_on_error=False) # noqa: SLF001\n\n decoded = bus._decode_sign(reg_name, {motor_id: value})[motor_id] # noqa: SLF001\n ok = bus._is_comm_success(comm) and (not bus._is_error(error)) # noqa: SLF001\n\n entry = {\n \"address\": addr,\n \"length\": length,\n \"raw\": int(value),\n \"decoded\": int(decoded),\n \"comm\": bus.packet_handler.getTxRxResult(comm),\n \"error\": bus.packet_handler.getRxPacketError(error),\n \"error_raw\": f\"0x{error:02X}\",\n \"ok\": ok,\n }\n\n if \"Voltage\" in reg_name:\n entry[\"volts\"] = round(decoded / 10.0, 2)\n if \"Temperature\" in reg_name:\n entry[\"celsius\"] = int(decoded)\n\n return entry\n\n\ndef _inspect_expected_motor(device, motor_name: str) -> None:\n bus = device.bus\n expected = bus.motors[motor_name]\n\n print(f\"\\n=== Motor slot: '{motor_name}' (expected id={expected.id}, model={expected.model}) ===\")\n print(f\"Hey are we connected to this motor? -> checking '{motor_name}'...\")\n\n try:\n found_baudrate, found_id = bus._find_single_motor(motor_name) # noqa: SLF001\n except Exception as exc: # broad: we want to print the exact reason and continue\n print(f\"Connected to '{motor_name}'? NO\")\n print(f\"Reason: {exc}\")\n return\n\n print(f\"Connected to '{motor_name}'? YES\")\n\n bus.set_baudrate(found_baudrate)\n\n firmware = bus._read_firmware_version([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n model_number = bus._read_model_number([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n baud_reg = _read_register(bus, expected.model, found_id, \"Baud_Rate\")\n baud_value = int(baud_reg[\"decoded\"])\n known_baud = {\n code: br\n for br, code in bus.model_baudrate_table[expected.model].items()\n }.get(baud_value)\n\n summary = {\n \"expected\": {\n \"name\": motor_name,\n \"id\": expected.id,\n \"model\": expected.model,\n \"model_number_expected\": bus.model_number_table.get(expected.model),\n },\n \"detected\": {\n \"id\": found_id,\n \"scan_baudrate\": found_baudrate,\n \"id_matches_expected\": found_id == expected.id,\n \"firmware_version\": firmware,\n \"model_number\": model_number,\n \"baud_register_value\": baud_value,\n \"baudrate_from_register\": known_baud,\n },\n \"calibration_relevant\": {\n \"homing_offset\": _read_register(bus, expected.model, found_id, \"Homing_Offset\"),\n \"min_position_limit\": _read_register(bus, expected.model, found_id, \"Min_Position_Limit\"),\n \"max_position_limit\": _read_register(bus, expected.model, found_id, \"Max_Position_Limit\"),\n },\n }\n\n control_table = bus.model_ctrl_table[expected.model]\n registers = {\n reg_name: _read_register(bus, expected.model, found_id, reg_name)\n for reg_name in control_table\n }\n\n print(\"\\nSummary:\")\n print(pformat(summary, sort_dicts=False))\n\n print(\"\\nAll readable details (entire control table read attempts):\")\n print(pformat(registers, sort_dicts=False))\n\n\n@draccus.wrap()\ndef inspect_motors(cfg: InspectConfig):\n if cfg.device.type not in COMPATIBLE_DEVICES:\n raise NotImplementedError(f\"Unsupported device type: {cfg.device.type}\")\n\n device = make_robot_from_config(cfg.device) if isinstance(cfg.device, RobotConfig) else make_teleoperator_from_config(cfg.device)\n\n if not hasattr(device, \"bus\"):\n raise RuntimeError(\"This device has no motor bus attribute.\")\n\n bus = device.bus\n bus._connect(handshake=False) # noqa: SLF001\n\n try:\n for motor in reversed(bus.motors):\n input(f\"\\nConnect ONLY the '{motor}' motor and press ENTER to inspect it.\")\n _inspect_expected_motor(device, motor)\n finally:\n if bus.is_connected:\n bus.disconnect(disable_torque=False)\n\n\ndef main():\n inspect_motors()\n\n\nif __name__ == \"__main__\":\n main()\n", "path": "scripts/lerobot_check_motor_details.py" } ``` ## Assistant **Result** (success): ``` Successfully wrote 5841 bytes to scripts/lerobot_check_motor_details.py ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "python3 scripts/lerobot_check_motor_details.py --help", "timeout": 120 } ``` ## Assistant **Result** (error): ``` Traceback (most recent call last): File "/Users/mukund/dev/robot-1/scripts/lerobot_check_motor_details.py", line 188, in main() File "/Users/mukund/dev/robot-1/scripts/lerobot_check_motor_details.py", line 184, in main inspect_motors() File "/Users/mukund/dev/robot-1/.venv/lib/python3.12/site-packages/draccus/argparsing.py", line 224, in wrapper_inner cfg = parse(config_class=argtype, config_path=config_path, preferred_help=preferred_help) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mukund/dev/robot-1/.venv/lib/python3.12/site-packages/draccus/argparsing.py", line 204, in parse parser = ArgumentParser( ^^^^^^^^^^^^^^^ File "/Users/mukund/dev/robot-1/.venv/lib/python3.12/site-packages/draccus/argparsing.py", line 67, in __init__ self._assert_no_conflicts() File "/Users/mukund/dev/robot-1/.venv/lib/python3.12/site-packages/draccus/argparsing.py", line 98, in _assert_no_conflicts if utils.CONFIG_ARG in [field.name for field in dataclasses.fields(self.config_class)]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mukund/.local/share/uv/python/cpython-3.12.11-macos-aarch64-none/lib/python3.12/dataclasses.py", line 1289, in fields raise TypeError('must be called with a dataclass type or instance') from None TypeError: must be called with a dataclass type or instance Command exited with code 1 ``` ## Assistant ### Tool: edit **Args:** ```json { "newText": "from dataclasses import dataclass\n", "oldText": "from __future__ import annotations\n\nfrom dataclasses import dataclass\n", "path": "scripts/lerobot_check_motor_details.py" } ``` ## Assistant **Result** (success): ``` Successfully replaced text in scripts/lerobot_check_motor_details.py. ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "python3 scripts/lerobot_check_motor_details.py --help", "timeout": 120 } ``` ## Assistant **Result** (success): ``` usage: lerobot_check_motor_details.py [-h] [--config_path str] [--teleop str] [--teleop.type {so100_leader,so101_leader,bi_so_leader,koch_leader,omx_leader,openarm_mini}] [--teleop.left_arm_config.port str] [--teleop.left_arm_config.use_degrees bool] [--teleop.right_arm_config.port str] [--teleop.right_arm_config.use_degrees bool] [--teleop.port str] [--teleop.gripper_open_pos float] [--teleop.id [str]] [--teleop.calibration_dir [Path]] [--teleop.port_right str] [--teleop.port_left str] [--teleop.use_degrees bool] [--robot str] [--robot.type {so100_follower,so101_follower,bi_so_follower,koch_follower,lekiwi,lekiwi_client,omx_follower}] [--left_arm_config str] [--robot.left_arm_config.port str] [--robot.left_arm_config.disable_torque_on_disconnect bool] [--robot.left_arm_config.max_relative_target [float|Dict]] [--robot.left_arm_config.cameras Dict] [--robot.left_arm_config.use_degrees bool] [--right_arm_config str] [--robot.right_arm_config.port str] [--robot.right_arm_config.disable_torque_on_disconnect bool] [--robot.right_arm_config.max_relative_target [float|Dict]] [--robot.right_arm_config.cameras Dict] [--robot.right_arm_config.use_degrees bool] [--robot.remote_ip str] [--robot.port_zmq_cmd int] [--robot.port_zmq_observations int] [--robot.teleop_keys Dict] [--robot.polling_timeout_ms int] [--robot.connect_timeout_s int] [--robot.id [str]] [--robot.calibration_dir [Path]] [--robot.port str] [--robot.disable_torque_on_disconnect bool] [--robot.max_relative_target [float|Dict]] [--robot.cameras Dict] [--robot.use_degrees bool] options: -h, --help show this help message and exit --config_path str Path for a config file to parse with draccus (default: None) --teleop str Config file for teleop (default: None) --left_arm_config str Config file for left_arm_config (default: None) --right_arm_config str Config file for right_arm_config (default: None) --robot str Config file for robot (default: None) --left_arm_config str Config file for left_arm_config (default: None) --right_arm_config str Config file for right_arm_config (default: None) InspectConfig: Optional ['teleop']: TeleoperatorConfig ['teleop']: --teleop.type {so100_leader,so101_leader,bi_so_leader,koch_leader,omx_leader,openarm_mini} Which type of TeleoperatorConfig ['teleop'] to use (default: None) SOLeaderTeleopConfig ['teleop']: --teleop.port str --teleop.use_degrees bool --teleop.id [str] Allows to distinguish between different teleoperators of the same type (default: None) --teleop.calibration_dir [Path] Directory to store calibration file (default: None) SOLeaderTeleopConfig ['teleop']: --teleop.port str --teleop.use_degrees bool --teleop.id [str] Allows to distinguish between different teleoperators of the same type (default: None) --teleop.calibration_dir [Path] Directory to store calibration file (default: None) BiSOLeaderConfig ['teleop']: Configuration class for Bi SO Leader teleoperators. --teleop.id [str] Allows to distinguish between different teleoperators of the same type (default: None) --teleop.calibration_dir [Path] Directory to store calibration file (default: None) SOLeaderConfig ['teleop.left_arm_config']: Base configuration class for SO Leader teleoperators. --teleop.left_arm_config.port str Port to connect to the arm (default: None) --teleop.left_arm_config.use_degrees bool Whether to use degrees for angles (default: True) SOLeaderConfig ['teleop.right_arm_config']: Base configuration class for SO Leader teleoperators. --teleop.right_arm_config.port str Port to connect to the arm (default: None) --teleop.right_arm_config.use_degrees bool Whether to use degrees for angles (default: True) KochLeaderConfig ['teleop']: --teleop.id [str] Allows to distinguish between different teleoperators of the same type (default: None) --teleop.calibration_dir [Path] Directory to store calibration file (default: None) --teleop.port str Port to connect to the arm (default: None) --teleop.gripper_open_pos float Sets the arm in torque mode with the gripper motor set to this value. This makes it possible to squeeze the gripper and have it spring back to an open position on its own. (default: 50.0) OmxLeaderConfig ['teleop']: --teleop.id [str] Allows to distinguish between different teleoperators of the same type (default: None) --teleop.calibration_dir [Path] Directory to store calibration file (default: None) --teleop.port str Port to connect to the arm (default: None) --teleop.gripper_open_pos float Sets the arm in torque mode with the gripper motor set to this value. This makes it possible to squeeze the gripper and have it spring back to an open position on its own. (default: 60.0) OpenArmMiniConfig ['teleop']: Configuration for OpenArm Mini teleoperator with Feetech motors (dual arms). --teleop.id [str] Allows to distinguish between different teleoperators of the same type (default: None) --teleop.calibration_dir [Path] Directory to store calibration file (default: None) --teleop.port_right str --teleop.port_left str --teleop.use_degrees bool Optional ['robot']: RobotConfig ['robot']: --robot.type {so100_follower,so101_follower,bi_so_follower,koch_follower,lekiwi,lekiwi_client,omx_follower} Which type of RobotConfig ['robot'] to use (default: None) SOFollowerRobotConfig ['robot']: --robot.port str --robot.disable_torque_on_disconnect bool --robot.max_relative_target [float|Dict] --robot.cameras Dict --robot.use_degrees bool --robot.id [str] Allows to distinguish between different robots of the same type (default: None) --robot.calibration_dir [Path] Directory to store calibration file (default: None) SOFollowerRobotConfig ['robot']: --robot.port str --robot.disable_torque_on_disconnect bool --robot.max_relative_target [float|Dict] --robot.cameras Dict --robot.use_degrees bool --robot.id [str] Allows to distinguish between different robots of the same type (default: None) --robot.calibration_dir [Path] Directory to store calibration file (default: None) BiSOFollowerConfig ['robot']: Configuration class for Bi SO Follower robots. --robot.id [str] Allows to distinguish between different robots of the same type (default: None) --robot.calibration_dir [Path] Directory to store calibration file (default: None) SOFollowerConfig ['robot.left_arm_config']: Base configuration class for SO Follower robots. --robot.left_arm_config.port str Port to connect to the arm (default: None) --robot.left_arm_config.disable_torque_on_disconnect bool --robot.left_arm_config.max_relative_target [float|Dict] `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor names to the max_relative_target value for that motor. (default: None) --robot.left_arm_config.cameras Dict cameras (default: {}) --robot.left_arm_config.use_degrees bool Set to `True` for backward compatibility with previous policies/dataset (default: True) SOFollowerConfig ['robot.right_arm_config']: Base configuration class for SO Follower robots. --robot.right_arm_config.port str Port to connect to the arm (default: None) --robot.right_arm_config.disable_torque_on_disconnect bool --robot.right_arm_config.max_relative_target [float|Dict] `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor names to the max_relative_target value for that motor. (default: None) --robot.right_arm_config.cameras Dict cameras (default: {}) --robot.right_arm_config.use_degrees bool Set to `True` for backward compatibility with previous policies/dataset (default: True) KochFollowerConfig ['robot']: --robot.id [str] Allows to distinguish between different robots of the same type (default: None) --robot.calibration_dir [Path] Directory to store calibration file (default: None) --robot.port str Port to connect to the arm (default: None) --robot.disable_torque_on_disconnect bool --robot.max_relative_target [float|Dict] `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor names to the max_relative_target value for that motor. (default: None) --robot.cameras Dict cameras (default: {}) --robot.use_degrees bool Set to `True` for backward compatibility with previous policies/dataset (default: False) LeKiwiConfig ['robot']: --robot.id [str] Allows to distinguish between different robots of the same type (default: None) --robot.calibration_dir [Path] Directory to store calibration file (default: None) --robot.port str port to connect to the bus (default: /dev/ttyACM0) --robot.disable_torque_on_disconnect bool --robot.max_relative_target [float|Dict] `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor names to the max_relative_target value for that motor. (default: None) --robot.cameras Dict --robot.use_degrees bool Set to `True` for backward compatibility with previous policies/dataset (default: False) LeKiwiClientConfig ['robot']: --robot.id [str] Allows to distinguish between different robots of the same type (default: None) --robot.calibration_dir [Path] Directory to store calibration file (default: None) --robot.remote_ip str Network Configuration (default: None) --robot.port_zmq_cmd int --robot.port_zmq_observations int --robot.teleop_keys Dict --robot.cameras Dict --robot.polling_timeout_ms int --robot.connect_timeout_s int OmxFollowerConfig ['robot']: --robot.id [str] Allows to distinguish between different robots of the same type (default: None) --robot.calibration_dir [Path] Directory to store calibration file (default: None) --robot.port str Port to connect to the arm (default: None) --robot.disable_torque_on_disconnect bool --robot.max_relative_target [float|Dict] `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor names to the max_relative_target value for that motor. (default: None) --robot.cameras Dict cameras (default: {}) --robot.use_degrees bool Set to `True` for backward compatibility with previous policies/dataset (default: False) ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "chmod +x scripts/lerobot_check_motor_details.py && ls -l scripts/lerobot_check_motor_details.py" } ``` ## Assistant **Result** (success): ``` -rwxr-xr-x@ 1 mukund staff 5805 Mar 19 21:59 scripts/lerobot_check_motor_details.py ``` ## Assistant ### Tool: edit **Args:** ```json { "newText": " firmware = None\n if hasattr(bus, \"_read_firmware_version\"):\n firmware = bus._read_firmware_version([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n model_number = None\n if hasattr(bus, \"_read_model_number\"):\n model_number = bus._read_model_number([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n baud_reg = _read_register(bus, expected.model, found_id, \"Baud_Rate\")\n", "oldText": " firmware = bus._read_firmware_version([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n model_number = bus._read_model_number([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n baud_reg = _read_register(bus, expected.model, found_id, \"Baud_Rate\")\n", "path": "scripts/lerobot_check_motor_details.py" } ``` ## Assistant **Result** (success): ``` Successfully replaced text in scripts/lerobot_check_motor_details.py. ``` ## Assistant ### Tool: edit **Args:** ```json { "newText": " calibration_relevant = {\n \"min_position_limit\": _read_register(bus, expected.model, found_id, \"Min_Position_Limit\"),\n \"max_position_limit\": _read_register(bus, expected.model, found_id, \"Max_Position_Limit\"),\n }\n if \"Homing_Offset\" in bus.model_ctrl_table[expected.model]:\n calibration_relevant[\"homing_offset\"] = _read_register(bus, expected.model, found_id, \"Homing_Offset\")\n\n summary = {\n \"expected\": {\n \"name\": motor_name,\n \"id\": expected.id,\n \"model\": expected.model,\n \"model_number_expected\": bus.model_number_table.get(expected.model),\n },\n \"detected\": {\n \"id\": found_id,\n \"scan_baudrate\": found_baudrate,\n \"id_matches_expected\": found_id == expected.id,\n \"firmware_version\": firmware,\n \"model_number\": model_number,\n \"baud_register_value\": baud_value,\n \"baudrate_from_register\": known_baud,\n },\n \"calibration_relevant\": calibration_relevant,\n }\n", "oldText": " summary = {\n \"expected\": {\n \"name\": motor_name,\n \"id\": expected.id,\n \"model\": expected.model,\n \"model_number_expected\": bus.model_number_table.get(expected.model),\n },\n \"detected\": {\n \"id\": found_id,\n \"scan_baudrate\": found_baudrate,\n \"id_matches_expected\": found_id == expected.id,\n \"firmware_version\": firmware,\n \"model_number\": model_number,\n \"baud_register_value\": baud_value,\n \"baudrate_from_register\": known_baud,\n },\n \"calibration_relevant\": {\n \"homing_offset\": _read_register(bus, expected.model, found_id, \"Homing_Offset\"),\n \"min_position_limit\": _read_register(bus, expected.model, found_id, \"Min_Position_Limit\"),\n \"max_position_limit\": _read_register(bus, expected.model, found_id, \"Max_Position_Limit\"),\n },\n }\n", "path": "scripts/lerobot_check_motor_details.py" } ``` ## Assistant **Result** (success): ``` Successfully replaced text in scripts/lerobot_check_motor_details.py. ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "python3 -m py_compile scripts/lerobot_check_motor_details.py && echo OK" } ``` ## Assistant **Result** (success): ``` OK ``` ## Assistant Implemented ✅ `scripts/lerobot_check_motor_details.py` ### What it does - Uses the **same config pattern** as `lerobot-setup-motors` (`--robot.type`, `--robot.port`, etc.). - Iterates motors in the same style as setup (`reversed(bus.motors)`), prompting you to connect one motor at a time. - For each expected motor: - Prints: **“Hey are we connected to this motor?”** - Detects whether that motor is connected. - Reports whether the detected ID matches expected ID (**ID already set or not**). - Dumps: - detected ID / baudrate - firmware version (when available) - model number - calibration-related registers (min/max limit, homing offset if supported) - **full control-table register readout** (all readable details, raw + decoded + comm/error info) ### File - `scripts/lerobot_check_motor_details.py` ### Run it ```bash python scripts/lerobot_check_motor_details.py \ --robot.type=so101_follower \ --robot.port=/dev/tty.usbmodem59700737971 ``` If you want, I can also add a non-interactive mode (single connected motor scan + dump) so you don’t have to press Enter for each expected joint. ## User run it ## Assistant ### Tool: bash **Args:** ```json { "command": "python3 scripts/lerobot_check_motor_details.py --robot.type=so101_follower --robot.port=/dev/tty.usbmodem59700737971", "timeout": 120 } ``` ## User lol wait does your script write any values? ## Assistant Great question — **no, it does not write motor values**. It is read-only in practice: - ✅ Uses ping/scan/read calls (`_find_single_motor`, `_read`, firmware/model reads) - ✅ Prints diagnostics - ❌ Does **not** call `setup_motor()` - ❌ Does **not** call `write()` / `sync_write()` to motor registers - ❌ Disconnect uses `disable_torque=False` (so it doesn’t even torque-off on exit) Only thing it changes is the **PC serial baudrate setting** while scanning (`bus.set_baudrate(...)`), not motor EEPROM/registers. If you want, I can still run it now; just note it’s interactive (asks you to connect one motor and press Enter). ## User So all of the loop that you took about iterating through the gripper motor and going in order is BS, right, because I just have it connected to the shoulder pan motor and I want to just investigate that one only. Can you edit the script accordingly to just investigate, check if a motor is connected, ask the user to press enter, and then just dump the information about it? ## Assistant ### Tool: read **Args:** ```json { "path": "scripts/lerobot_check_motor_details.py" } ``` ## Assistant **Result** (success): ``` #!/usr/bin/env python3 """ Read-only motor connectivity + details inspector, modeled after `lerobot-setup-motors`. Example: python scripts/lerobot_check_motor_details.py \ --robot.type=so101_follower \ --robot.port=/dev/tty.usbmodem59700737971 """ from dataclasses import dataclass from pathlib import Path from pprint import pformat import sys import draccus # Allow running from repo root without requiring editable install. REPO_ROOT = Path(__file__).resolve().parents[1] LOCAL_SRC = REPO_ROOT / "lerobot" / "src" if LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path: sys.path.insert(0, str(LOCAL_SRC)) from lerobot.motors.motors_bus import get_address from lerobot.robots import ( # noqa: F401 RobotConfig, bi_so_follower, koch_follower, lekiwi, make_robot_from_config, omx_follower, so_follower, ) from lerobot.teleoperators import ( # noqa: F401 TeleoperatorConfig, bi_so_leader, koch_leader, make_teleoperator_from_config, omx_leader, openarm_mini, so_leader, ) COMPATIBLE_DEVICES = [ "koch_follower", "koch_leader", "omx_follower", "omx_leader", "openarm_mini", "so100_follower", "so100_leader", "so101_follower", "so101_leader", "lekiwi", ] @dataclass class InspectConfig: teleop: TeleoperatorConfig | None = None robot: RobotConfig | None = None def __post_init__(self): if bool(self.teleop) == bool(self.robot): raise ValueError("Choose either a teleop or a robot.") self.device = self.robot if self.robot else self.teleop def _read_register(bus, model: str, motor_id: int, reg_name: str) -> dict: addr, length = get_address(bus.model_ctrl_table, model, reg_name) value, comm, error = bus._read(addr, length, motor_id, raise_on_error=False) # noqa: SLF001 decoded = bus._decode_sign(reg_name, {motor_id: value})[motor_id] # noqa: SLF001 ok = bus._is_comm_success(comm) and (not bus._is_error(error)) # noqa: SLF001 entry = { "address": addr, "length": length, "raw": int(value), "decoded": int(decoded), "comm": bus.packet_handler.getTxRxResult(comm), "error": bus.packet_handler.getRxPacketError(error), "error_raw": f"0x{error:02X}", "ok": ok, } if "Voltage" in reg_name: entry["volts"] = round(decoded / 10.0, 2) if "Temperature" in reg_name: entry["celsius"] = int(decoded) return entry def _inspect_expected_motor(device, motor_name: str) -> None: bus = device.bus expected = bus.motors[motor_name] print(f"\n=== Motor slot: '{motor_name}' (expected id={expected.id}, model={expected.model}) ===") print(f"Hey are we connected to this motor? -> checking '{motor_name}'...") try: found_baudrate, found_id = bus._find_single_motor(motor_name) # noqa: SLF001 except Exception as exc: # broad: we want to print the exact reason and continue print(f"Connected to '{motor_name}'? NO") print(f"Reason: {exc}") return print(f"Connected to '{motor_name}'? YES") bus.set_baudrate(found_baudrate) firmware = None if hasattr(bus, "_read_firmware_version"): firmware = bus._read_firmware_version([found_id], raise_on_error=False).get(found_id) # noqa: SLF001 model_number = None if hasattr(bus, "_read_model_number"): model_number = bus._read_model_number([found_id], raise_on_error=False).get(found_id) # noqa: SLF001 baud_reg = _read_register(bus, expected.model, found_id, "Baud_Rate") baud_value = int(baud_reg["decoded"]) known_baud = { code: br for br, code in bus.model_baudrate_table[expected.model].items() }.get(baud_value) calibration_relevant = { "min_position_limit": _read_register(bus, expected.model, found_id, "Min_Position_Limit"), "max_position_limit": _read_register(bus, expected.model, found_id, "Max_Position_Limit"), } if "Homing_Offset" in bus.model_ctrl_table[expected.model]: calibration_relevant["homing_offset"] = _read_register(bus, expected.model, found_id, "Homing_Offset") summary = { "expected": { "name": motor_name, "id": expected.id, "model": expected.model, "model_number_expected": bus.model_number_table.get(expected.model), }, "detected": { "id": found_id, "scan_baudrate": found_baudrate, "id_matches_expected": found_id == expected.id, "firmware_version": firmware, "model_number": model_number, "baud_register_value": baud_value, "baudrate_from_register": known_baud, }, "calibration_relevant": calibration_relevant, } control_table = bus.model_ctrl_table[expected.model] registers = { reg_name: _read_register(bus, expected.model, found_id, reg_name) for reg_name in control_table } print("\nSummary:") print(pformat(summary, sort_dicts=False)) print("\nAll readable details (entire control table read attempts):") print(pformat(registers, sort_dicts=False)) @draccus.wrap() def inspect_motors(cfg: InspectConfig): if cfg.device.type not in COMPATIBLE_DEVICES: raise NotImplementedError(f"Unsupported device type: {cfg.device.type}") device = make_robot_from_config(cfg.device) if isinstance(cfg.device, RobotConfig) else make_teleoperator_from_config(cfg.device) if not hasattr(device, "bus"): raise RuntimeError("This device has no motor bus attribute.") bus = device.bus bus._connect(handshake=False) # noqa: SLF001 try: for motor in reversed(bus.motors): input(f"\nConnect ONLY the '{motor}' motor and press ENTER to inspect it.") _inspect_expected_motor(device, motor) finally: if bus.is_connected: bus.disconnect(disable_torque=False) def main(): inspect_motors() if __name__ == "__main__": main() ``` ## Assistant ### Tool: write **Args:** ```json { "content": "#!/usr/bin/env python3\n\"\"\"\nRead-only single-motor connectivity + details inspector, modeled after `lerobot-setup-motors`.\n\nExample:\n python scripts/lerobot_check_motor_details.py \\\n --robot.type=so101_follower \\\n --robot.port=/dev/tty.usbmodem59700737971\n\"\"\"\n\nfrom dataclasses import dataclass\nfrom pathlib import Path\nfrom pprint import pformat\nimport sys\n\nimport draccus\n\n# Allow running from repo root without requiring editable install.\nREPO_ROOT = Path(__file__).resolve().parents[1]\nLOCAL_SRC = REPO_ROOT / \"lerobot\" / \"src\"\nif LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path:\n sys.path.insert(0, str(LOCAL_SRC))\n\nfrom lerobot.motors.motors_bus import get_address\nfrom lerobot.robots import ( # noqa: F401\n RobotConfig,\n bi_so_follower,\n koch_follower,\n lekiwi,\n make_robot_from_config,\n omx_follower,\n so_follower,\n)\nfrom lerobot.teleoperators import ( # noqa: F401\n TeleoperatorConfig,\n bi_so_leader,\n koch_leader,\n make_teleoperator_from_config,\n omx_leader,\n openarm_mini,\n so_leader,\n)\n\nCOMPATIBLE_DEVICES = [\n \"koch_follower\",\n \"koch_leader\",\n \"omx_follower\",\n \"omx_leader\",\n \"openarm_mini\",\n \"so100_follower\",\n \"so100_leader\",\n \"so101_follower\",\n \"so101_leader\",\n \"lekiwi\",\n]\n\n\n@dataclass\nclass InspectConfig:\n teleop: TeleoperatorConfig | None = None\n robot: RobotConfig | None = None\n\n def __post_init__(self):\n if bool(self.teleop) == bool(self.robot):\n raise ValueError(\"Choose either a teleop or a robot.\")\n self.device = self.robot if self.robot else self.teleop\n\n\ndef _read_register(bus, model: str, motor_id: int, reg_name: str) -> dict:\n addr, length = get_address(bus.model_ctrl_table, model, reg_name)\n value, comm, error = bus._read(addr, length, motor_id, raise_on_error=False) # noqa: SLF001\n decoded = bus._decode_sign(reg_name, {motor_id: value})[motor_id] # noqa: SLF001\n\n entry = {\n \"address\": addr,\n \"length\": length,\n \"raw\": int(value),\n \"decoded\": int(decoded),\n \"comm\": bus.packet_handler.getTxRxResult(comm),\n \"error\": bus.packet_handler.getRxPacketError(error),\n \"error_raw\": f\"0x{error:02X}\",\n \"ok\": bool(bus._is_comm_success(comm) and (not bus._is_error(error))), # noqa: SLF001\n }\n if \"Voltage\" in reg_name:\n entry[\"volts\"] = round(decoded / 10.0, 2)\n if \"Temperature\" in reg_name:\n entry[\"celsius\"] = int(decoded)\n return entry\n\n\ndef _discover_one_connected_motor(bus) -> tuple[int, int, int] | None:\n \"\"\"Return (baudrate, id, model_number) for exactly one found motor; else None.\"\"\"\n for baud in bus.available_baudrates:\n bus.set_baudrate(baud)\n\n found = None\n if hasattr(bus, \"broadcast_ping\"):\n try:\n found = bus.broadcast_ping(raise_on_error=False)\n except NotImplementedError:\n found = None\n\n if found:\n if len(found) > 1:\n raise RuntimeError(\n f\"More than one motor detected at baudrate={baud}: {found}. \"\n \"Connect only one motor and retry.\"\n )\n motor_id, model_number = next(iter(found.items()))\n return baud, motor_id, model_number\n\n return None\n\n\ndef _guess_model_name(bus, model_number: int | None) -> str:\n if model_number is not None:\n for model_name, n in bus.model_number_table.items():\n if n == model_number and model_name in bus.model_ctrl_table:\n return model_name\n\n # Fallback to first configured motor model from device config.\n return next(iter(bus.motors.values())).model\n\n\n@draccus.wrap()\ndef inspect_motors(cfg: InspectConfig):\n if cfg.device.type not in COMPATIBLE_DEVICES:\n raise NotImplementedError(f\"Unsupported device type: {cfg.device.type}\")\n\n device = make_robot_from_config(cfg.device) if isinstance(cfg.device, RobotConfig) else make_teleoperator_from_config(cfg.device)\n\n if not hasattr(device, \"bus\"):\n raise RuntimeError(\"This device has no motor bus attribute.\")\n\n bus = device.bus\n bus._connect(handshake=False) # noqa: SLF001\n\n try:\n input(\"Connect your single motor now, then press ENTER to inspect it.\")\n print(\"Hey are we connected to this motor?\")\n\n found = _discover_one_connected_motor(bus)\n if not found:\n print(\"Connected? NO\")\n print(\"No motor responded on scanned baudrates.\")\n return\n\n found_baud, found_id, model_number = found\n print(\"Connected? YES\")\n\n bus.set_baudrate(found_baud)\n firmware = None\n if hasattr(bus, \"_read_firmware_version\"):\n firmware = bus._read_firmware_version([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n model_name = _guess_model_name(bus, model_number)\n\n expected_matches = [\n {\"name\": name, \"id\": m.id, \"model\": m.model}\n for name, m in bus.motors.items()\n if m.id == found_id\n ]\n\n baud_reg = _read_register(bus, model_name, found_id, \"Baud_Rate\")\n baud_value = int(baud_reg[\"decoded\"])\n known_baud = {code: br for br, code in bus.model_baudrate_table[model_name].items()}.get(baud_value)\n\n calibration_relevant = {\n \"min_position_limit\": _read_register(bus, model_name, found_id, \"Min_Position_Limit\"),\n \"max_position_limit\": _read_register(bus, model_name, found_id, \"Max_Position_Limit\"),\n }\n if \"Homing_Offset\" in bus.model_ctrl_table[model_name]:\n calibration_relevant[\"homing_offset\"] = _read_register(bus, model_name, found_id, \"Homing_Offset\")\n\n summary = {\n \"detected\": {\n \"id\": found_id,\n \"scan_baudrate\": found_baud,\n \"firmware_version\": firmware,\n \"model_number\": model_number,\n \"model_name_guess\": model_name,\n \"baud_register_value\": baud_value,\n \"baudrate_from_register\": known_baud,\n },\n \"motor_id_assignment_check\": {\n \"matches_known_device_slots\": bool(expected_matches),\n \"matching_slots\": expected_matches,\n },\n \"calibration_relevant\": calibration_relevant,\n }\n\n control_table = bus.model_ctrl_table[model_name]\n registers = {\n reg_name: _read_register(bus, model_name, found_id, reg_name)\n for reg_name in control_table\n }\n\n print(\"\\nSummary:\")\n print(pformat(summary, sort_dicts=False))\n\n print(\"\\nAll readable details (entire control table read attempts):\")\n print(pformat(registers, sort_dicts=False))\n finally:\n if bus.is_connected:\n bus.disconnect(disable_torque=False)\n\n\ndef main():\n inspect_motors()\n\n\nif __name__ == \"__main__\":\n main()\n", "path": "scripts/lerobot_check_motor_details.py" } ``` ## Assistant **Result** (success): ``` Successfully wrote 6933 bytes to scripts/lerobot_check_motor_details.py ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "python3 -m py_compile scripts/lerobot_check_motor_details.py && python3 scripts/lerobot_check_motor_details.py --help | head -n 20", "timeout": 120 } ``` ## Assistant **Result** (success): ``` usage: lerobot_check_motor_details.py [-h] [--config_path str] [--teleop str] [--teleop.type {so100_leader,so101_leader,bi_so_leader,koch_leader,omx_leader,openarm_mini}] [--teleop.left_arm_config.port str] [--teleop.left_arm_config.use_degrees bool] [--teleop.right_arm_config.port str] [--teleop.right_arm_config.use_degrees bool] [--teleop.port str] [--teleop.gripper_open_pos float] [--teleop.id [str]] [--teleop.calibration_dir [Path]] [--teleop.port_right str] [--teleop.port_left str] [--teleop.use_degrees bool] [--robot str] [--robot.type {so100_follower,so101_follower,bi_so_follower,koch_follower,lekiwi,lekiwi_client,omx_follower}] [--left_arm_config str] [--robot.left_arm_config.port str] [--robot.left_arm_config.disable_torque_on_disconnect bool] [--robot.left_arm_config.max_relative_target [float|Dict]] [--robot.left_arm_config.cameras Dict] ``` ## Assistant Yep — agreed, that loop was unnecessary for your use case. I’ve changed it. ### Updated `scripts/lerobot_check_motor_details.py` now: - prompts once: **“Connect your single motor now, then press ENTER…”** - asks/checks: **“Hey are we connected to this motor?”** - scans baudrates to find exactly one connected motor - dumps all readable details for that one motor: - detected ID - whether ID matches any known slot in this robot config - firmware (if available) - model number - baudrate info - calibration-related registers - full control-table register read attempts No per-joint loop anymore. ### Run ```bash python scripts/lerobot_check_motor_details.py \ --robot.type=so101_follower \ --robot.port=/dev/tty.usbmodem59700737971 ``` If you want, I can run this now against your connected shoulder-pan motor. ## User The script hangs after "hey are we connected". It did not hang in the first iteration ## Assistant ### Tool: write **Args:** ```json { "content": "#!/usr/bin/env python3\n\"\"\"\nRead-only single-motor connectivity + details inspector, modeled after `lerobot-setup-motors`.\n\nExample:\n python scripts/lerobot_check_motor_details.py \\\n --robot.type=so101_follower \\\n --robot.port=/dev/tty.usbmodem59700737971 \\\n --motor_name=shoulder_pan\n\"\"\"\n\nfrom dataclasses import dataclass\nfrom pathlib import Path\nfrom pprint import pformat\nimport sys\n\nimport draccus\n\n# Allow running from repo root without requiring editable install.\nREPO_ROOT = Path(__file__).resolve().parents[1]\nLOCAL_SRC = REPO_ROOT / \"lerobot\" / \"src\"\nif LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path:\n sys.path.insert(0, str(LOCAL_SRC))\n\nfrom lerobot.motors.motors_bus import get_address\nfrom lerobot.robots import ( # noqa: F401\n RobotConfig,\n bi_so_follower,\n koch_follower,\n lekiwi,\n make_robot_from_config,\n omx_follower,\n so_follower,\n)\nfrom lerobot.teleoperators import ( # noqa: F401\n TeleoperatorConfig,\n bi_so_leader,\n koch_leader,\n make_teleoperator_from_config,\n omx_leader,\n openarm_mini,\n so_leader,\n)\n\nCOMPATIBLE_DEVICES = [\n \"koch_follower\",\n \"koch_leader\",\n \"omx_follower\",\n \"omx_leader\",\n \"openarm_mini\",\n \"so100_follower\",\n \"so100_leader\",\n \"so101_follower\",\n \"so101_leader\",\n \"lekiwi\",\n]\n\n\n@dataclass\nclass InspectConfig:\n teleop: TeleoperatorConfig | None = None\n robot: RobotConfig | None = None\n motor_name: str = \"shoulder_pan\"\n\n def __post_init__(self):\n if bool(self.teleop) == bool(self.robot):\n raise ValueError(\"Choose either a teleop or a robot.\")\n self.device = self.robot if self.robot else self.teleop\n\n\ndef _read_register(bus, model: str, motor_id: int, reg_name: str) -> dict:\n addr, length = get_address(bus.model_ctrl_table, model, reg_name)\n value, comm, error = bus._read(addr, length, motor_id, raise_on_error=False) # noqa: SLF001\n decoded = bus._decode_sign(reg_name, {motor_id: value})[motor_id] # noqa: SLF001\n\n entry = {\n \"address\": addr,\n \"length\": length,\n \"raw\": int(value),\n \"decoded\": int(decoded),\n \"comm\": bus.packet_handler.getTxRxResult(comm),\n \"error\": bus.packet_handler.getRxPacketError(error),\n \"error_raw\": f\"0x{error:02X}\",\n \"ok\": bool(bus._is_comm_success(comm) and (not bus._is_error(error))), # noqa: SLF001\n }\n if \"Voltage\" in reg_name:\n entry[\"volts\"] = round(decoded / 10.0, 2)\n if \"Temperature\" in reg_name:\n entry[\"celsius\"] = int(decoded)\n return entry\n\n\ndef _inspect_expected_motor(device, motor_name: str) -> None:\n bus = device.bus\n if motor_name not in bus.motors:\n raise ValueError(f\"Unknown motor_name='{motor_name}'. Valid names: {list(bus.motors.keys())}\")\n\n expected = bus.motors[motor_name]\n\n print(f\"\\n=== Target motor slot: '{motor_name}' (expected id={expected.id}, model={expected.model}) ===\")\n print(f\"Hey are we connected to this motor? -> checking '{motor_name}'...\")\n\n try:\n # Reuse LeRobot's own setup logic (fast and model-aware)\n found_baudrate, found_id = bus._find_single_motor(motor_name) # noqa: SLF001\n except Exception as exc:\n print(\"Connected? NO\")\n print(f\"Reason: {exc}\")\n return\n\n print(\"Connected? YES\")\n\n bus.set_baudrate(found_baudrate)\n\n firmware = None\n if hasattr(bus, \"_read_firmware_version\"):\n firmware = bus._read_firmware_version([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n model_number = None\n if hasattr(bus, \"_read_model_number\"):\n model_number = bus._read_model_number([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n baud_reg = _read_register(bus, expected.model, found_id, \"Baud_Rate\")\n baud_value = int(baud_reg[\"decoded\"])\n known_baud = {code: br for br, code in bus.model_baudrate_table[expected.model].items()}.get(baud_value)\n\n calibration_relevant = {\n \"min_position_limit\": _read_register(bus, expected.model, found_id, \"Min_Position_Limit\"),\n \"max_position_limit\": _read_register(bus, expected.model, found_id, \"Max_Position_Limit\"),\n }\n if \"Homing_Offset\" in bus.model_ctrl_table[expected.model]:\n calibration_relevant[\"homing_offset\"] = _read_register(bus, expected.model, found_id, \"Homing_Offset\")\n\n summary = {\n \"expected\": {\n \"name\": motor_name,\n \"id\": expected.id,\n \"model\": expected.model,\n \"model_number_expected\": bus.model_number_table.get(expected.model),\n },\n \"detected\": {\n \"id\": found_id,\n \"scan_baudrate\": found_baudrate,\n \"id_matches_expected\": found_id == expected.id,\n \"firmware_version\": firmware,\n \"model_number\": model_number,\n \"baud_register_value\": baud_value,\n \"baudrate_from_register\": known_baud,\n },\n \"calibration_relevant\": calibration_relevant,\n }\n\n control_table = bus.model_ctrl_table[expected.model]\n registers = {\n reg_name: _read_register(bus, expected.model, found_id, reg_name)\n for reg_name in control_table\n }\n\n print(\"\\nSummary:\")\n print(pformat(summary, sort_dicts=False))\n\n print(\"\\nAll readable details (entire control table read attempts):\")\n print(pformat(registers, sort_dicts=False))\n\n\n@draccus.wrap()\ndef inspect_motors(cfg: InspectConfig):\n if cfg.device.type not in COMPATIBLE_DEVICES:\n raise NotImplementedError(f\"Unsupported device type: {cfg.device.type}\")\n\n device = make_robot_from_config(cfg.device) if isinstance(cfg.device, RobotConfig) else make_teleoperator_from_config(cfg.device)\n\n if not hasattr(device, \"bus\"):\n raise RuntimeError(\"This device has no motor bus attribute.\")\n\n bus = device.bus\n bus._connect(handshake=False) # noqa: SLF001\n\n try:\n input(f\"Connect only '{cfg.motor_name}' now, then press ENTER to inspect it.\")\n _inspect_expected_motor(device, cfg.motor_name)\n finally:\n if bus.is_connected:\n bus.disconnect(disable_torque=False)\n\n\ndef main():\n inspect_motors()\n\n\nif __name__ == \"__main__\":\n main()\n", "path": "scripts/lerobot_check_motor_details.py" } ``` ## Assistant **Result** (success): ``` Successfully wrote 6193 bytes to scripts/lerobot_check_motor_details.py ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "python3 -m py_compile scripts/lerobot_check_motor_details.py && python3 scripts/lerobot_check_motor_details.py --help | rg -n \"motor_name|usage\" -n", "timeout": 120 } ``` ## Assistant **Result** (error): ``` Traceback (most recent call last): File "/Users/mukund/dev/robot-1/scripts/lerobot_check_motor_details.py", line 22, in if LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path: ^^^^^^^^^^^^^^^^^^ File "/Users/mukund/.local/share/uv/python/cpython-3.12.11-macos-aarch64-none/lib/python3.12/pathlib.py", line 860, in exists self.stat(follow_symlinks=follow_symlinks) File "/Users/mukund/.local/share/uv/python/cpython-3.12.11-macos-aarch64-none/lib/python3.12/pathlib.py", line 840, in stat return os.stat(self, follow_symlinks=follow_symlinks) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ PermissionError: [Errno 13] Permission denied: '/Users/mukund/dev/robot-1/lerobot/src' Command exited with code 1 ``` ## Assistant ### Tool: edit **Args:** ```json { "newText": "REPO_ROOT = Path(__file__).resolve().parents[1]\nLOCAL_SRC = REPO_ROOT / \"lerobot\" / \"src\"\ntry:\n if LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path:\n sys.path.insert(0, str(LOCAL_SRC))\nexcept OSError:\n # If path probing fails due to local FS permissions, continue and rely on installed package.\n pass\n", "oldText": "REPO_ROOT = Path(__file__).resolve().parents[1]\nLOCAL_SRC = REPO_ROOT / \"lerobot\" / \"src\"\nif LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path:\n sys.path.insert(0, str(LOCAL_SRC))\n", "path": "scripts/lerobot_check_motor_details.py" } ``` ## Assistant **Result** (success): ``` Successfully replaced text in scripts/lerobot_check_motor_details.py. ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "python3 -m py_compile scripts/lerobot_check_motor_details.py && echo OK" } ``` ## Assistant **Result** (success): ``` OK ``` ## Assistant Yep — good catch. That hang was from my second rewrite’s discovery path, not what you wanted. I’ve fixed it by reverting to a **single targeted motor check** (fast path), no global scan loop. ### Changed in `scripts/lerobot_check_motor_details.py` - Checks **only one motor slot** via LeRobot’s own `_find_single_motor(...)`. - Added config arg: - `--motor_name` (default: `shoulder_pan`) - Flow is now: 1. prompt once to connect that motor 2. print “Hey are we connected to this motor?” 3. check connectivity for that slot 4. dump summary + full readable registers for that connected motor Also kept it read-only (no write/setup calls). ### Run for your case ```bash python scripts/lerobot_check_motor_details.py \ --robot.type=so101_follower \ --robot.port=/dev/tty.usbmodem59700737971 \ --motor_name=shoulder_pan ``` If you want, I can now run this exact command. ## User make me a nice TUI that shows off this information. Just get the job done. I'd rather a simple piece of code i can upgrade + hack on, rather than gigabloat ## Assistant ### Tool: bash **Args:** ```json { "command": "python3 - << 'PY'\nimport importlib.util\nprint('rich', bool(importlib.util.find_spec('rich')))\nprint('textual', bool(importlib.util.find_spec('textual')))\nPY" } ``` ## Assistant **Result** (success): ``` rich True textual False ``` ## Assistant ### Tool: write **Args:** ```json { "content": "#!/usr/bin/env python3\n\"\"\"\nMinimal read-only TUI to inspect a single connected motor.\n\nSimple + hackable:\n- uses rich (already lightweight)\n- no writes to motors\n- press 'q' to quit\n\nExample:\n python scripts/lerobot_motor_tui.py \\\n --robot.type=so101_follower \\\n --robot.port=/dev/tty.usbmodem59700737971 \\\n --motor_name=shoulder_pan\n\"\"\"\n\nfrom dataclasses import dataclass\nfrom pathlib import Path\nfrom contextlib import contextmanager\nimport select\nimport sys\nimport termios\nimport tty\nimport time\n\nimport draccus\nfrom rich.console import Group\nfrom rich.live import Live\nfrom rich.panel import Panel\nfrom rich.table import Table\nfrom rich.text import Text\n\n# Allow running from repo root without requiring editable install.\nREPO_ROOT = Path(__file__).resolve().parents[1]\nLOCAL_SRC = REPO_ROOT / \"lerobot\" / \"src\"\ntry:\n if LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path:\n sys.path.insert(0, str(LOCAL_SRC))\nexcept OSError:\n pass\n\nfrom lerobot.motors.motors_bus import get_address\nfrom lerobot.robots import ( # noqa: F401\n RobotConfig,\n bi_so_follower,\n koch_follower,\n lekiwi,\n make_robot_from_config,\n omx_follower,\n so_follower,\n)\nfrom lerobot.teleoperators import ( # noqa: F401\n TeleoperatorConfig,\n bi_so_leader,\n koch_leader,\n make_teleoperator_from_config,\n omx_leader,\n openarm_mini,\n so_leader,\n)\n\nCOMPATIBLE_DEVICES = [\n \"koch_follower\",\n \"koch_leader\",\n \"omx_follower\",\n \"omx_leader\",\n \"openarm_mini\",\n \"so100_follower\",\n \"so100_leader\",\n \"so101_follower\",\n \"so101_leader\",\n \"lekiwi\",\n]\n\n\n@dataclass\nclass TUIConfig:\n teleop: TeleoperatorConfig | None = None\n robot: RobotConfig | None = None\n motor_name: str = \"shoulder_pan\"\n refresh_hz: float = 2.0\n\n def __post_init__(self):\n if bool(self.teleop) == bool(self.robot):\n raise ValueError(\"Choose either a teleop or a robot.\")\n self.device = self.robot if self.robot else self.teleop\n if self.refresh_hz <= 0:\n raise ValueError(\"refresh_hz must be > 0\")\n\n\n@contextmanager\ndef cbreak_stdin():\n fd = sys.stdin.fileno()\n old = termios.tcgetattr(fd)\n tty.setcbreak(fd)\n try:\n yield\n finally:\n termios.tcsetattr(fd, termios.TCSADRAIN, old)\n\n\ndef _read_register(bus, model: str, motor_id: int, reg_name: str) -> dict:\n addr, length = get_address(bus.model_ctrl_table, model, reg_name)\n value, comm, error = bus._read(addr, length, motor_id, raise_on_error=False) # noqa: SLF001\n decoded = bus._decode_sign(reg_name, {motor_id: value})[motor_id] # noqa: SLF001\n\n out = {\n \"raw\": int(value),\n \"decoded\": int(decoded),\n \"ok\": bool(bus._is_comm_success(comm) and (not bus._is_error(error))), # noqa: SLF001\n \"comm\": bus.packet_handler.getTxRxResult(comm),\n \"error\": bus.packet_handler.getRxPacketError(error),\n \"err_hex\": f\"0x{error:02X}\",\n }\n if \"Voltage\" in reg_name:\n out[\"volts\"] = round(decoded / 10.0, 2)\n if \"Temperature\" in reg_name:\n out[\"celsius\"] = int(decoded)\n return out\n\n\ndef _discover_motor(bus, motor_name: str):\n expected = bus.motors[motor_name]\n model = expected.model\n # Only scan baudrates valid for this model.\n for baud in bus.model_baudrate_table[model]:\n bus.set_baudrate(baud)\n found_model = bus.ping(expected.id, raise_on_error=False)\n if found_model is not None:\n return {\"connected\": True, \"baud\": baud, \"id\": expected.id, \"model_number\": found_model}\n return {\"connected\": False}\n\n\ndef _build_view(device, motor_name: str):\n bus = device.bus\n if motor_name not in bus.motors:\n valid = \", \".join(bus.motors.keys())\n return Panel(Text(f\"Unknown motor_name='{motor_name}'. Valid: {valid}\", style=\"bold red\"), title=\"Error\")\n\n expected = bus.motors[motor_name]\n d = _discover_motor(bus, motor_name)\n\n summary = Table.grid(padding=(0, 2))\n summary.add_column(style=\"cyan\", no_wrap=True)\n summary.add_column(style=\"white\")\n\n summary.add_row(\"Target motor\", motor_name)\n summary.add_row(\"Expected ID\", str(expected.id))\n summary.add_row(\"Expected model\", expected.model)\n\n if not d[\"connected\"]:\n summary.add_row(\"Connected?\", \"[bold red]NO[/]\")\n summary.add_row(\"Hint\", \"Check wiring/power and ensure only this motor is on bus\")\n return Group(\n Panel(summary, title=\"Motor Status\"),\n Panel(\"Press [bold]q[/] to quit\", title=\"Controls\"),\n )\n\n # Connected path\n found_id = d[\"id\"]\n found_baud = d[\"baud\"]\n found_model_num = d[\"model_number\"]\n\n firmware = None\n if hasattr(bus, \"_read_firmware_version\"):\n firmware = bus._read_firmware_version([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n matches_slot = (found_id == expected.id)\n\n summary.add_row(\"Connected?\", \"[bold green]YES[/]\")\n summary.add_row(\"Detected ID\", str(found_id))\n summary.add_row(\"ID matches expected\", \"yes\" if matches_slot else \"no\")\n summary.add_row(\"Detected baud\", str(found_baud))\n summary.add_row(\"Model number\", str(found_model_num))\n summary.add_row(\"Firmware\", str(firmware))\n\n reg_table = Table(show_header=True, header_style=\"bold magenta\", expand=True)\n reg_table.add_column(\"Register\", no_wrap=True)\n reg_table.add_column(\"Decoded\", justify=\"right\")\n reg_table.add_column(\"Raw\", justify=\"right\")\n reg_table.add_column(\"OK\", justify=\"center\")\n reg_table.add_column(\"Notes\")\n\n control_table = bus.model_ctrl_table[expected.model]\n for reg in control_table:\n rr = _read_register(bus, expected.model, found_id, reg)\n notes = []\n if \"volts\" in rr:\n notes.append(f\"{rr['volts']}V\")\n if \"celsius\" in rr:\n notes.append(f\"{rr['celsius']}°C\")\n if not rr[\"ok\"]:\n notes.append(f\"{rr['comm']} | {rr['error']} ({rr['err_hex']})\")\n\n reg_table.add_row(\n reg,\n str(rr[\"decoded\"]),\n str(rr[\"raw\"]),\n \"✅\" if rr[\"ok\"] else \"❌\",\n \" | \".join(notes),\n )\n\n footer = Panel(\"Press [bold]q[/] to quit\", title=\"Controls\")\n return Group(\n Panel(summary, title=\"Hey are we connected to this motor?\"),\n Panel(reg_table, title=\"All readable details\"),\n footer,\n )\n\n\n@draccus.wrap()\ndef run_tui(cfg: TUIConfig):\n if cfg.device.type not in COMPATIBLE_DEVICES:\n raise NotImplementedError(f\"Unsupported device type: {cfg.device.type}\")\n\n device = make_robot_from_config(cfg.device) if isinstance(cfg.device, RobotConfig) else make_teleoperator_from_config(cfg.device)\n if not hasattr(device, \"bus\"):\n raise RuntimeError(\"This device has no motor bus attribute.\")\n\n bus = device.bus\n bus._connect(handshake=False) # noqa: SLF001\n\n try:\n interval = 1.0 / cfg.refresh_hz\n with cbreak_stdin(), Live(_build_view(device, cfg.motor_name), refresh_per_second=cfg.refresh_hz, screen=True) as live:\n while True:\n live.update(_build_view(device, cfg.motor_name), refresh=True)\n r, _, _ = select.select([sys.stdin], [], [], interval)\n if r:\n ch = sys.stdin.read(1)\n if ch.lower() == \"q\":\n break\n finally:\n if bus.is_connected:\n bus.disconnect(disable_torque=False)\n\n\ndef main():\n run_tui()\n\n\nif __name__ == \"__main__\":\n main()\n", "path": "scripts/lerobot_motor_tui.py" } ``` ## Assistant **Result** (success): ``` Successfully wrote 7511 bytes to scripts/lerobot_motor_tui.py ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "python3 -m py_compile scripts/lerobot_motor_tui.py && chmod +x scripts/lerobot_motor_tui.py && echo OK" } ``` ## Assistant **Result** (success): ``` OK ``` ## Assistant Done. I added a simple, hackable TUI: - **New file:** `scripts/lerobot_motor_tui.py` - **Read-only:** it does not write motor values. - **Targeted:** checks only one motor slot (`--motor_name`, default `shoulder_pan`). - **Live view:** auto-refreshes and shows: - connected / not connected - expected vs detected ID - baudrate - model number - firmware (if available) - full register table (decoded/raw, ok/error, voltage/temp notes) - **Controls:** press `q` to quit. Run it like this: ```bash python scripts/lerobot_motor_tui.py \ --robot.type=so101_follower \ --robot.port=/dev/tty.usbmodem59700737971 \ --motor_name=shoulder_pan ``` If you want next, I can add: - filter to only show “important” registers first, - manual refresh key (`r`), - export snapshot to JSON. ## User use #!/usr/bin/env -S uv run --script --with for your shebang so i can run scripts easierly also, use rich for the nicer UI (and rewrite it cuz i deleted it lol. you can just fetch it from your context lol which you can find with `traces --list --dir . --json`) ## Assistant ### Tool: bash **Args:** ```json { "command": "ls -la scripts" } ``` ## Assistant **Result** (success): ``` total 32 drwxr-xr-x@ 4 mukund staff 128 Mar 19 22:18 __pycache__ drwxr-xr-x@ 5 mukund staff 160 Mar 19 22:25 . drwxr-xr-x@ 6 mukund staff 192 Mar 19 22:31 .. -rw-r--r--@ 1 mukund staff 6892 Mar 18 04:16 inspect_feetech_voltage_readonly.py -rw-r--r--@ 1 mukund staff 6328 Mar 19 22:14 lerobot_check_motor_details.py ``` ## Assistant ### Tool: write **Args:** ```json { "content": "#!/usr/bin/env -S uv run --script --with rich --with draccus\n\"\"\"\nMinimal read-only Rich TUI for one motor.\n\nUsage:\n ./scripts/lerobot_motor_tui.py \\\n --robot.type=so101_follower \\\n --robot.port=/dev/tty.usbmodem59700737971 \\\n --motor_name=shoulder_pan\n\nNotes:\n- Read-only: does not write motor settings.\n- Press 'q' to quit.\n\"\"\"\n\nfrom dataclasses import dataclass\nfrom pathlib import Path\nfrom contextlib import contextmanager\nimport select\nimport sys\nimport termios\nimport time\nimport tty\n\nimport draccus\nfrom rich.console import Group\nfrom rich.live import Live\nfrom rich.panel import Panel\nfrom rich.table import Table\nfrom rich.text import Text\n\n# Allow local source import without editable install.\nREPO_ROOT = Path(__file__).resolve().parents[1]\nLOCAL_SRC = REPO_ROOT / \"lerobot\" / \"src\"\ntry:\n if LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path:\n sys.path.insert(0, str(LOCAL_SRC))\nexcept OSError:\n pass\n\nfrom lerobot.motors.motors_bus import get_address\nfrom lerobot.robots import ( # noqa: F401\n RobotConfig,\n bi_so_follower,\n koch_follower,\n lekiwi,\n make_robot_from_config,\n omx_follower,\n so_follower,\n)\nfrom lerobot.teleoperators import ( # noqa: F401\n TeleoperatorConfig,\n bi_so_leader,\n koch_leader,\n make_teleoperator_from_config,\n omx_leader,\n openarm_mini,\n so_leader,\n)\n\nCOMPATIBLE_DEVICES = [\n \"koch_follower\",\n \"koch_leader\",\n \"omx_follower\",\n \"omx_leader\",\n \"openarm_mini\",\n \"so100_follower\",\n \"so100_leader\",\n \"so101_follower\",\n \"so101_leader\",\n \"lekiwi\",\n]\n\n\n@dataclass\nclass TUIConfig:\n teleop: TeleoperatorConfig | None = None\n robot: RobotConfig | None = None\n motor_name: str = \"shoulder_pan\"\n refresh_hz: float = 2.0\n\n def __post_init__(self):\n if bool(self.teleop) == bool(self.robot):\n raise ValueError(\"Choose either a teleop or a robot.\")\n self.device = self.robot if self.robot else self.teleop\n if self.refresh_hz <= 0:\n raise ValueError(\"refresh_hz must be > 0\")\n\n\n@contextmanager\ndef cbreak_stdin():\n fd = sys.stdin.fileno()\n old = termios.tcgetattr(fd)\n tty.setcbreak(fd)\n try:\n yield\n finally:\n termios.tcsetattr(fd, termios.TCSADRAIN, old)\n\n\ndef _read_register(bus, model: str, motor_id: int, reg_name: str) -> dict:\n addr, length = get_address(bus.model_ctrl_table, model, reg_name)\n value, comm, error = bus._read(addr, length, motor_id, raise_on_error=False) # noqa: SLF001\n decoded = bus._decode_sign(reg_name, {motor_id: value})[motor_id] # noqa: SLF001\n\n result = {\n \"raw\": int(value),\n \"decoded\": int(decoded),\n \"ok\": bool(bus._is_comm_success(comm) and (not bus._is_error(error))), # noqa: SLF001\n \"comm\": bus.packet_handler.getTxRxResult(comm),\n \"error\": bus.packet_handler.getRxPacketError(error),\n \"error_raw\": f\"0x{error:02X}\",\n }\n if \"Voltage\" in reg_name:\n result[\"volts\"] = round(decoded / 10.0, 2)\n if \"Temperature\" in reg_name:\n result[\"celsius\"] = int(decoded)\n return result\n\n\ndef _discover_target(bus, motor_name: str) -> dict:\n expected = bus.motors[motor_name]\n model = expected.model\n\n for baud in bus.model_baudrate_table[model]:\n bus.set_baudrate(baud)\n model_number = bus.ping(expected.id, raise_on_error=False)\n if model_number is not None:\n return {\n \"connected\": True,\n \"baud\": baud,\n \"id\": expected.id,\n \"model_number\": model_number,\n }\n\n return {\"connected\": False}\n\n\ndef _render(device, motor_name: str):\n bus = device.bus\n\n if motor_name not in bus.motors:\n return Panel(\n Text(f\"Unknown motor_name='{motor_name}'. Valid: {list(bus.motors.keys())}\", style=\"bold red\"),\n title=\"Error\",\n )\n\n expected = bus.motors[motor_name]\n found = _discover_target(bus, motor_name)\n\n status = Table.grid(padding=(0, 2))\n status.add_column(style=\"cyan\", no_wrap=True)\n status.add_column(style=\"white\")\n status.add_row(\"Target motor\", motor_name)\n status.add_row(\"Expected ID\", str(expected.id))\n status.add_row(\"Expected model\", expected.model)\n\n if not found[\"connected\"]:\n status.add_row(\"Connected?\", \"[bold red]NO[/]\")\n status.add_row(\"Hint\", \"Power/wiring/ID mismatch; keep only this motor on bus\")\n return Group(\n Panel(status, title=\"Hey are we connected to this motor?\"),\n Panel(\"Press [bold]q[/] to quit\", title=\"Controls\"),\n )\n\n found_id = found[\"id\"]\n found_baud = found[\"baud\"]\n found_model_number = found[\"model_number\"]\n\n firmware = None\n if hasattr(bus, \"_read_firmware_version\"):\n firmware = bus._read_firmware_version([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n status.add_row(\"Connected?\", \"[bold green]YES[/]\")\n status.add_row(\"Detected ID\", str(found_id))\n status.add_row(\"ID set correctly?\", \"yes\" if found_id == expected.id else \"no\")\n status.add_row(\"Detected baud\", str(found_baud))\n status.add_row(\"Model number\", str(found_model_number))\n status.add_row(\"Firmware\", str(firmware))\n\n reg_table = Table(show_header=True, header_style=\"bold magenta\", expand=True)\n reg_table.add_column(\"Register\", no_wrap=True)\n reg_table.add_column(\"Decoded\", justify=\"right\")\n reg_table.add_column(\"Raw\", justify=\"right\")\n reg_table.add_column(\"OK\", justify=\"center\", no_wrap=True)\n reg_table.add_column(\"Notes\")\n\n for reg_name in bus.model_ctrl_table[expected.model]:\n rr = _read_register(bus, expected.model, found_id, reg_name)\n notes = []\n if \"volts\" in rr:\n notes.append(f\"{rr['volts']}V\")\n if \"celsius\" in rr:\n notes.append(f\"{rr['celsius']}°C\")\n if not rr[\"ok\"]:\n notes.append(f\"{rr['comm']} | {rr['error']} ({rr['error_raw']})\")\n\n reg_table.add_row(\n reg_name,\n str(rr[\"decoded\"]),\n str(rr[\"raw\"]),\n \"✅\" if rr[\"ok\"] else \"❌\",\n \" | \".join(notes),\n )\n\n return Group(\n Panel(status, title=\"Hey are we connected to this motor?\"),\n Panel(reg_table, title=\"All readable details (read-only)\"),\n Panel(\"Press [bold]q[/] to quit\", title=\"Controls\"),\n )\n\n\n@draccus.wrap()\ndef main(cfg: TUIConfig):\n if cfg.device.type not in COMPATIBLE_DEVICES:\n raise NotImplementedError(f\"Unsupported device type: {cfg.device.type}\")\n\n device = make_robot_from_config(cfg.device) if isinstance(cfg.device, RobotConfig) else make_teleoperator_from_config(cfg.device)\n if not hasattr(device, \"bus\"):\n raise RuntimeError(\"This device has no motor bus attribute.\")\n\n bus = device.bus\n bus._connect(handshake=False) # noqa: SLF001\n\n try:\n interval = 1.0 / cfg.refresh_hz\n with cbreak_stdin(), Live(_render(device, cfg.motor_name), refresh_per_second=cfg.refresh_hz, screen=True) as live:\n while True:\n live.update(_render(device, cfg.motor_name), refresh=True)\n r, _, _ = select.select([sys.stdin], [], [], interval)\n if r and sys.stdin.read(1).lower() == \"q\":\n break\n finally:\n if bus.is_connected:\n bus.disconnect(disable_torque=False)\n\n\nif __name__ == \"__main__\":\n main()\n", "path": "scripts/lerobot_motor_tui.py" } ``` ## Assistant **Result** (success): ``` Successfully wrote 7418 bytes to scripts/lerobot_motor_tui.py ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "chmod +x scripts/lerobot_motor_tui.py && python3 -m py_compile scripts/lerobot_motor_tui.py && ls -l scripts/lerobot_motor_tui.py" } ``` ## Assistant **Result** (success): ``` -rwxr-xr-x@ 1 mukund staff 7423 Mar 19 22:32 scripts/lerobot_motor_tui.py ``` ## Assistant Perfect — rewrote it with the `uv run --script` shebang and Rich UI. ### New script - `scripts/lerobot_motor_tui.py` - Shebang: ```bash #!/usr/bin/env -S uv run --script --with rich --with draccus ``` ### What it does - Simple Rich TUI (no bloat). - Read-only motor inspection. - Targets one motor slot (`--motor_name`, default `shoulder_pan`). - Shows: - connected or not - expected vs detected ID - baudrate - model number - firmware (if available) - full readable register table - Press `q` to quit. ### Run ```bash ./scripts/lerobot_motor_tui.py \ --robot.type=so101_follower \ --robot.port=/dev/tty.usbmodem59700737971 \ --motor_name=shoulder_pan ``` If you want, next I can add tiny QoL keys: `r` (force refresh), `j/k` (scroll register window), `e` (export snapshot JSON). ## User well scrolling doesn't work? neither does search (via '/'). You can just output it nicely, and I'll pipe it into `less`. much easier than coding everythign ## Assistant ### Tool: write **Args:** ```json { "content": "#!/usr/bin/env -S uv run --script --with rich --with draccus\n\"\"\"\nRead-only single motor dump (pretty terminal output, no TUI).\n\nPipe to less:\n ./scripts/lerobot_motor_dump.py \\\n --robot.type=so101_follower \\\n --robot.port=/dev/tty.usbmodem59700737971 \\\n --motor_name=shoulder_pan | less -R\n\"\"\"\n\nfrom dataclasses import dataclass\nfrom pathlib import Path\nimport sys\n\nimport draccus\nfrom rich.console import Console\nfrom rich.table import Table\n\n# Allow local source import without editable install.\nREPO_ROOT = Path(__file__).resolve().parents[1]\nLOCAL_SRC = REPO_ROOT / \"lerobot\" / \"src\"\ntry:\n if LOCAL_SRC.exists() and str(LOCAL_SRC) not in sys.path:\n sys.path.insert(0, str(LOCAL_SRC))\nexcept OSError:\n pass\n\nfrom lerobot.motors.motors_bus import get_address\nfrom lerobot.robots import ( # noqa: F401\n RobotConfig,\n bi_so_follower,\n koch_follower,\n lekiwi,\n make_robot_from_config,\n omx_follower,\n so_follower,\n)\nfrom lerobot.teleoperators import ( # noqa: F401\n TeleoperatorConfig,\n bi_so_leader,\n koch_leader,\n make_teleoperator_from_config,\n omx_leader,\n openarm_mini,\n so_leader,\n)\n\nCOMPATIBLE_DEVICES = [\n \"koch_follower\",\n \"koch_leader\",\n \"omx_follower\",\n \"omx_leader\",\n \"openarm_mini\",\n \"so100_follower\",\n \"so100_leader\",\n \"so101_follower\",\n \"so101_leader\",\n \"lekiwi\",\n]\n\n\n@dataclass\nclass DumpConfig:\n teleop: TeleoperatorConfig | None = None\n robot: RobotConfig | None = None\n motor_name: str = \"shoulder_pan\"\n\n def __post_init__(self):\n if bool(self.teleop) == bool(self.robot):\n raise ValueError(\"Choose either a teleop or a robot.\")\n self.device = self.robot if self.robot else self.teleop\n\n\ndef _read_register(bus, model: str, motor_id: int, reg_name: str) -> dict:\n addr, length = get_address(bus.model_ctrl_table, model, reg_name)\n value, comm, error = bus._read(addr, length, motor_id, raise_on_error=False) # noqa: SLF001\n decoded = bus._decode_sign(reg_name, {motor_id: value})[motor_id] # noqa: SLF001\n\n out = {\n \"addr\": addr,\n \"len\": length,\n \"raw\": int(value),\n \"decoded\": int(decoded),\n \"ok\": bool(bus._is_comm_success(comm) and (not bus._is_error(error))), # noqa: SLF001\n \"comm\": bus.packet_handler.getTxRxResult(comm),\n \"error\": bus.packet_handler.getRxPacketError(error),\n \"error_raw\": f\"0x{error:02X}\",\n }\n if \"Voltage\" in reg_name:\n out[\"volts\"] = round(decoded / 10.0, 2)\n if \"Temperature\" in reg_name:\n out[\"celsius\"] = int(decoded)\n return out\n\n\n@draccus.wrap()\ndef main(cfg: DumpConfig):\n console = Console()\n\n if cfg.device.type not in COMPATIBLE_DEVICES:\n raise NotImplementedError(f\"Unsupported device type: {cfg.device.type}\")\n\n device = make_robot_from_config(cfg.device) if isinstance(cfg.device, RobotConfig) else make_teleoperator_from_config(cfg.device)\n if not hasattr(device, \"bus\"):\n raise RuntimeError(\"This device has no motor bus attribute.\")\n\n bus = device.bus\n if cfg.motor_name not in bus.motors:\n raise ValueError(f\"Unknown motor_name='{cfg.motor_name}'. Valid: {list(bus.motors.keys())}\")\n\n expected = bus.motors[cfg.motor_name]\n bus._connect(handshake=False) # noqa: SLF001\n\n try:\n console.rule(\"[bold cyan]Hey are we connected to this motor?\")\n found_baud, found_id = bus._find_single_motor(cfg.motor_name) # noqa: SLF001\n bus.set_baudrate(found_baud)\n\n firmware = None\n if hasattr(bus, \"_read_firmware_version\"):\n firmware = bus._read_firmware_version([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n model_number = None\n if hasattr(bus, \"_read_model_number\"):\n model_number = bus._read_model_number([found_id], raise_on_error=False).get(found_id) # noqa: SLF001\n\n summary = Table(title=\"Summary\", show_header=False)\n summary.add_column(\"k\", style=\"cyan\", no_wrap=True)\n summary.add_column(\"v\")\n summary.add_row(\"Connected\", \"YES\")\n summary.add_row(\"Motor slot\", cfg.motor_name)\n summary.add_row(\"Expected ID\", str(expected.id))\n summary.add_row(\"Detected ID\", str(found_id))\n summary.add_row(\"ID set correctly\", \"yes\" if found_id == expected.id else \"no\")\n summary.add_row(\"Expected model\", expected.model)\n summary.add_row(\"Model number\", str(model_number))\n summary.add_row(\"Firmware\", str(firmware))\n summary.add_row(\"Detected baud\", str(found_baud))\n console.print(summary)\n\n reg_table = Table(title=\"All readable details\", header_style=\"bold magenta\")\n reg_table.add_column(\"Register\", no_wrap=True)\n reg_table.add_column(\"Addr\", justify=\"right\")\n reg_table.add_column(\"Len\", justify=\"right\")\n reg_table.add_column(\"Decoded\", justify=\"right\")\n reg_table.add_column(\"Raw\", justify=\"right\")\n reg_table.add_column(\"OK\", justify=\"center\")\n reg_table.add_column(\"Notes\")\n\n for reg_name in bus.model_ctrl_table[expected.model]:\n rr = _read_register(bus, expected.model, found_id, reg_name)\n notes = []\n if \"volts\" in rr:\n notes.append(f\"{rr['volts']}V\")\n if \"celsius\" in rr:\n notes.append(f\"{rr['celsius']}°C\")\n if not rr[\"ok\"]:\n notes.append(f\"{rr['comm']} | {rr['error']} ({rr['error_raw']})\")\n\n reg_table.add_row(\n reg_name,\n str(rr[\"addr\"]),\n str(rr[\"len\"]),\n str(rr[\"decoded\"]),\n str(rr[\"raw\"]),\n \"✅\" if rr[\"ok\"] else \"❌\",\n \" | \".join(notes),\n )\n\n console.print(reg_table)\n\n except Exception as exc:\n err = Table(title=\"Summary\", show_header=False)\n err.add_column(\"k\", style=\"cyan\")\n err.add_column(\"v\")\n err.add_row(\"Connected\", \"NO\")\n err.add_row(\"Motor slot\", cfg.motor_name)\n err.add_row(\"Reason\", str(exc))\n console.print(err)\n finally:\n if bus.is_connected:\n bus.disconnect(disable_torque=False)\n\n\nif __name__ == \"__main__\":\n main()\n", "path": "scripts/lerobot_motor_dump.py" } ``` ## Assistant **Result** (success): ``` Successfully wrote 6236 bytes to scripts/lerobot_motor_dump.py ``` ## Assistant ### Tool: bash **Args:** ```json { "command": "chmod +x scripts/lerobot_motor_dump.py && python3 -m py_compile scripts/lerobot_motor_dump.py && ls -l scripts/lerobot_motor_dump.py" } ``` ## Assistant **Result** (success): ``` -rwxr-xr-x@ 1 mukund staff 6241 Mar 19 22:35 scripts/lerobot_motor_dump.py ``` ## Assistant 100% fair — agreed. I added a **non-TUI pretty dump** script so you can just pipe to `less`. ### New script - `scripts/lerobot_motor_dump.py` - Uses your requested shebang: ```bash #!/usr/bin/env -S uv run --script --with rich --with draccus ``` ### What it does - Read-only single-motor inspection - “Hey are we connected…” summary block - ID-set check (detected vs expected) - firmware/model/baud info - full register dump in a Rich table - exits cleanly (no live UI, no scrolling code) ### Run ```bash ./scripts/lerobot_motor_dump.py \ --robot.type=so101_follower \ --robot.port=/dev/tty.usbmodem59700737971 \ --motor_name=shoulder_pan | less -R ``` If you want, I can also delete `scripts/lerobot_motor_tui.py` to keep only the simple path. ## User yeah delete it ## Assistant ### Tool: bash **Args:** ```json { "command": "rm -f scripts/lerobot_motor_tui.py && ls -la scripts" } ``` ## Assistant **Result** (success): ``` total 48 drwxr-xr-x@ 5 mukund staff 160 Mar 19 22:35 __pycache__ drwxr-xr-x@ 6 mukund staff 192 Mar 19 22:37 . drwxr-xr-x@ 6 mukund staff 192 Mar 19 22:31 .. -rw-r--r--@ 1 mukund staff 6892 Mar 18 04:16 inspect_feetech_voltage_readonly.py -rw-r--r--@ 1 mukund staff 6328 Mar 19 22:14 lerobot_check_motor_details.py -rwxr-xr-x@ 1 mukund staff 6241 Mar 19 22:35 lerobot_motor_dump.py ``` ## Assistant Done — deleted: - `scripts/lerobot_motor_tui.py` Remaining relevant script: - `scripts/lerobot_motor_dump.py` ✅