Script to Check Motor Connection and Details

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

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.

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).

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

./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.

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:

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.

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

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.

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

./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).

Done — deleted:

• scripts/lerobot_motor_tui.py

Remaining relevant script:

• scripts/lerobot_motor_dump.py ✅

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

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.