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Address potential None in _assert_same_firmware

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Simon Alibert
2025-06-04 12:17:18 +02:00
parent fef83ce349
commit 81a4deadc3
1 changed files with 4 additions and 4 deletions
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8
lerobot/common/motors/feetech/feetech.py
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@@ -154,7 +154,7 @@ class FeetechMotorsBus(MotorsBus):
) )
def _assert_same_firmware(self) -> None: def _assert_same_firmware(self) -> None:
firmware_versions = self._read_firmware_version(self.ids) firmware_versions = self._read_firmware_version(self.ids, raise_on_error=True)
if len(set(firmware_versions.values())) != 1: if len(set(firmware_versions.values())) != 1:
raise RuntimeError( raise RuntimeError(
"Some Motors use different firmware versions:" "Some Motors use different firmware versions:"
@@ -433,13 +433,13 @@ class FeetechMotorsBus(MotorsBus):
*FIRMWARE_MAJOR_VERSION, id_, raise_on_error=raise_on_error *FIRMWARE_MAJOR_VERSION, id_, raise_on_error=raise_on_error
) )
if not self._is_comm_success(comm) or self._is_error(error): if not self._is_comm_success(comm) or self._is_error(error):
return continue
firm_ver_minor, comm, error = self._read( firm_ver_minor, comm, error = self._read(
*FIRMWARE_MINOR_VERSION, id_, raise_on_error=raise_on_error *FIRMWARE_MINOR_VERSION, id_, raise_on_error=raise_on_error
) )
if not self._is_comm_success(comm) or self._is_error(error): if not self._is_comm_success(comm) or self._is_error(error):
return continue
firmware_versions[id_] = f"{firm_ver_major}.{firm_ver_minor}" firmware_versions[id_] = f"{firm_ver_major}.{firm_ver_minor}"
@@ -450,7 +450,7 @@ class FeetechMotorsBus(MotorsBus):
for id_ in motor_ids: for id_ in motor_ids:
model_nb, comm, error = self._read(*MODEL_NUMBER, id_, raise_on_error=raise_on_error) 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): if not self._is_comm_success(comm) or self._is_error(error):
return continue
model_numbers[id_] = model_nb model_numbers[id_] = model_nb