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Ensure motors exist at connection time

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This commit is contained in:
Simon Alibert
2025-03-25 11:12:26 +01:00
parent 4293b6a4fb
commit cf963eb1b0
3 changed files with 80 additions and 33 deletions
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4
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -138,7 +138,7 @@ class DynamixelMotorsBus(MotorsBus):
]
return data
def broadcast_ping(self, num_retry: int = 0, raise_on_error: bool = False) -> dict[int, str] | None:
def broadcast_ping(self, num_retry: int = 0, raise_on_error: bool = False) -> dict[int, int] | None:
for n_try in range(1 + num_retry):
data_list, comm = self.packet_handler.broadcastPing(self.port_handler)
if self._is_comm_success(comm):
@@ -152,4 +152,4 @@ class DynamixelMotorsBus(MotorsBus):
return data_list if data_list else None
return {id_: self._model_nb_to_model(data[0]) for id_, data in data_list.items()}
return {id_: data[0] for id_, data in data_list.items()}