tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Fix _find_single_motor

Browse Source
This commit is contained in:
Simon Alibert
2025-04-18 09:18:56 +02:00
parent 702749b7d3
commit 29633865c7
2 changed files with 10 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
lerobot/common/motors/dynamixel/dynamixel.py
View File

@@ -155,7 +155,7 @@ class DynamixelMotorsBus(MotorsBus):
if found_model != expected_model_nb: if found_model != expected_model_nb:
raise RuntimeError( raise RuntimeError(
f"Found one motor on {baudrate=} with id={found_id} but it has a " 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"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}')." f"Make sure you are connected only connected to the '{motor}' motor (model '{model}')."
) )
return baudrate, found_id return baudrate, found_id

17
lerobot/common/motors/feetech/feetech.py
View File

@@ -185,7 +185,7 @@ class FeetechMotorsBus(MotorsBus):
if found_model != expected_model_nb: if found_model != expected_model_nb:
raise RuntimeError( raise RuntimeError(
f"Found one motor on {baudrate=} with id={found_id} but it has a " 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"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}')." f"Make sure you are connected only connected to the '{motor}' motor (model '{model}')."
) )
return baudrate, found_id return baudrate, found_id
@@ -205,13 +205,14 @@ class FeetechMotorsBus(MotorsBus):
self.set_baudrate(baudrate) self.set_baudrate(baudrate)
for id_ in range(scs.MAX_ID + 1): for id_ in range(scs.MAX_ID + 1):
found_model = self.ping(id_) found_model = self.ping(id_)
if found_model is not None and found_model != expected_model_nb: if found_model is not None:
raise RuntimeError( if found_model != expected_model_nb:
f"Found one motor on {baudrate=} with id={id_} but it has a " raise RuntimeError(
f"model number '{found_model}' different than the one expected: '{expected_model_nb}' " f"Found one motor on {baudrate=} with id={id_} but it has a "
f"Make sure you are connected only connected to the '{motor}' motor (model '{model}')." 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_ )
return baudrate, id_
raise RuntimeError(f"Motor '{motor}' (model '{model}') was not found. Make sure it is connected.") raise RuntimeError(f"Motor '{motor}' (model '{model}') was not found. Make sure it is connected.")