Script to Check Motor Connection and Details

$ 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

>rg -n "lerobot-setup-motors|setup_motors|setup motors|setup-motors" lerobot

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:<hfoptions id="setup_motors">
lerobot/docs/source/so101.mdx:131:lerobot-setup-motors \
lerobot/docs/source/so101.mdx:148:follower.setup_motors()
lerobot/docs/source/so101.mdx:203:<hfoptions id="setup_motors">
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:<hfoptions id="setup_motors">
lerobot/docs/source/so100.mdx:96:lerobot-setup-motors \
lerobot/docs/source/so100.mdx:113:follower.setup_motors()
lerobot/docs/source/so100.mdx:168:<hfoptions id="setup_motors">
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:<hfoptions id="setup_motors">
lerobot/docs/source/koch.mdx:101:lerobot-setup-motors \
lerobot/docs/source/koch.mdx:118:follower.setup_motors()
lerobot/docs/source/koch.mdx:173:<hfoptions id="setup_motors">
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"

>rg -n "class FeetechMotorsBus|def setup_motor|sync_read\(|read\(" lerobot/src/lerobot/motors -g '*.py'

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)

>python3 scripts/lerobot_check_motor_details.py --help

Traceback (most recent call last):
  File "/Users/mukund/dev/robot-1/scripts/lerobot_check_motor_details.py", line 188, in <module>
    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

Editedlerobot_check_motor_details.py

>python3 scripts/lerobot_check_motor_details.py --help

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)

Editedlerobot_check_motor_details.py

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

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.

run it

lol wait does your script write any values?

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).

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?

>

python3 -m py_compile scripts/lerobot_check_motor_details.py && python3 scripts/lerobot_check_motor_details.py --help | head -n 20

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]

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

If you want, I can run this now against your connected shoulder-pan motor.

The script hangs after "hey are we connected". It did not hang in the first iteration

>

python3 -m py_compile scripts/lerobot_check_motor_details.py && python3 scripts/lerobot_check_motor_details.py --help | rg -n "motor_name|usage" -n

Traceback (most recent call last):
  File "/Users/mukund/dev/robot-1/scripts/lerobot_check_motor_details.py", line 22, in <module>
    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

Editedlerobot_check_motor_details.py

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

If you want, I can now run this exact command.

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

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

If you want next, I can add:

filter to only show “important” registers first,
manual refresh key (r),
export snapshot to JSON.

use #!/usr/bin/env -S uv run --script --with <deps> 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)

Perfect — rewrote it with the uv run --script shebang and Rich UI.

New script

scripts/lerobot_motor_tui.py
Shebang:
bash

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

If you want, next I can add tiny QoL keys: r (force refresh), j/k (scroll register window), e (export snapshot JSON).

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

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

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

If you want, I can also delete scripts/lerobot_motor_tui.py to keep only the simple path.

yeah delete it

>rm -f scripts/lerobot_motor_tui.py && ls -la scripts

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

Done — deleted:

scripts/lerobot_motor_tui.py

Remaining relevant script:

scripts/lerobot_motor_dump.py ✅