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Motors config & disconnect fixes

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This commit is contained in:
Simon Alibert
2025-04-15 11:20:42 +02:00
parent f71e224023
commit 9afc4b771c
5 changed files with 25 additions and 23 deletions
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12
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -142,16 +142,16 @@ class DynamixelMotorsBus(MotorsBus):
def configure_motors(self) -> None:
# By default, Dynamixel motors have a 500µs delay response time (corresponding to a value of 250 on
# the 'Return_Delay_Time' address). We ensure this is reduced to the minimum of 2µs (value of 0).
for id_ in self.ids:
self.write("Return_Delay_Time", id_, 0)
for motor in self.motors:
self.write("Return_Delay_Time", motor, 0)
def disable_torque(self, motors: str | list[str] | None = None) -> None:
def disable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.DISABLED.value)
self.write("Torque_Enable", name, TorqueMode.DISABLED.value, num_retry=num_retry)
def enable_torque(self, motors: str | list[str] | None = None) -> None:
def enable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.ENABLED.value)
self.write("Torque_Enable", name, TorqueMode.ENABLED.value, num_retry=num_retry)
def _encode_sign(self, data_name: str, ids_values: dict[int, int]) -> dict[int, int]:
for id_ in ids_values: