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Better MotorsBus error messages

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This commit is contained in:
Simon Alibert
2025-05-22 17:59:27 +02:00
parent 4feaef3436
commit 4bb965c283
2 changed files with 33 additions and 16 deletions
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4
lerobot/common/motors/feetech/feetech.py
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@@ -157,7 +157,9 @@ class FeetechMotorsBus(MotorsBus):
firmware_versions = self._read_firmware_version(self.ids)
if len(set(firmware_versions.values())) != 1:
raise RuntimeError(
"Some Motors use different firmware versions. Update their firmware first using Feetech's software. "
"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."
)

45
lerobot/common/motors/motors_bus.py
View File

@@ -373,29 +373,44 @@ class MotorsBus(abc.ABC):
return error != self._no_error
def _assert_motors_exist(self) -> None:
# TODO(aliberts): collect all wrong ids/models and display them at once
expected_models = {m.id: self.model_number_table[m.model] for m in self.motors.values()}
found_models = {}
for id_ in self.ids:
model_nb = self.ping(id_)
if model_nb is not None:
found_models[id_] = model_nb
expected_models = {m.id: self.model_number_table[m.model] for m in self.motors.values()}
if set(found_models) != set(self.ids):
raise RuntimeError(
f"{self.__class__.__name__} is supposed to have these motors: ({{id: model_nb}})"
f"\n{pformat(expected_models, indent=4, sort_dicts=False)}\n"
f"But it found these motors on port '{self.port}':"
f"\n{pformat(found_models, indent=4, sort_dicts=False)}\n"
)
for id_, model in expected_models.items():
if found_models[id_] != model:
raise RuntimeError(
f"Motor '{self._id_to_name(id_)}' (id={id_}) is supposed to be of model_number={model} "
f"('{self._id_to_model(id_)}') but a model_number={found_models[id_]} "
"was found instead for that id."
missing_ids = [id_ for id_ in self.ids if id_ not in found_models]
wrong_models = {
id_: (expected_models[id_], found_models[id_])
for id_ in found_models
if expected_models.get(id_) != found_models[id_]
}
if missing_ids or wrong_models:
error_lines = [f"{self.__class__.__name__} motor check failed on port '{self.port}':"]
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