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[pre-commit.ci] auto fixes from pre-commit.com hooks

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pre-commit-ci[bot]
2025-03-04 13:38:47 +00:00
committed by AdilZouitine
parent 76df8a31b3
commit 38f5fa4523
79 changed files with 2782 additions and 788 deletions
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lerobot/scripts/configure_motor.py
+34 -9
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@@ -108,20 +108,26 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
break
if motor_index == -1:
raise ValueError("No motors detected. Please ensure you have one motor connected.")
raise ValueError(
"No motors detected. Please ensure you have one motor connected."
)
print(f"Motor index found at: {motor_index}")
if brand == "feetech":
# Allows ID and BAUDRATE to be written in memory
motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Lock", 0)
motor_bus.write_with_motor_ids(
motor_bus.motor_models, motor_index, "Lock", 0
)
if baudrate != baudrate_des:
print(f"Setting its baudrate to {baudrate_des}")
baudrate_idx = list(series_baudrate_table.values()).index(baudrate_des)
# The write can fail, so we allow retries
motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Baud_Rate", baudrate_idx)
motor_bus.write_with_motor_ids(
motor_bus.motor_models, motor_index, "Baud_Rate", baudrate_idx
)
time.sleep(0.5)
motor_bus.set_bus_baudrate(baudrate_des)
present_baudrate_idx = motor_bus.read_with_motor_ids(
@@ -136,7 +142,9 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Lock", 0)
motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "ID", motor_idx_des)
present_idx = motor_bus.read_with_motor_ids(motor_bus.motor_models, motor_idx_des, "ID", num_retry=2)
present_idx = motor_bus.read_with_motor_ids(
motor_bus.motor_models, motor_idx_des, "ID", num_retry=2
)
if present_idx != motor_idx_des:
raise OSError("Failed to write index.")
@@ -164,12 +172,29 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--port", type=str, required=True, help="Motors bus port (e.g. dynamixel,feetech)")
parser.add_argument("--brand", type=str, required=True, help="Motor brand (e.g. dynamixel,feetech)")
parser.add_argument("--model", type=str, required=True, help="Motor model (e.g. xl330-m077,sts3215)")
parser.add_argument("--ID", type=int, required=True, help="Desired ID of the current motor (e.g. 1,2,3)")
parser.add_argument(
"--baudrate", type=int, default=1000000, help="Desired baudrate for the motor (default: 1000000)"
"--port",
type=str,
required=True,
help="Motors bus port (e.g. dynamixel,feetech)",
)
parser.add_argument(
"--brand", type=str, required=True, help="Motor brand (e.g. dynamixel,feetech)"
)
parser.add_argument(
"--model", type=str, required=True, help="Motor model (e.g. xl330-m077,sts3215)"
)
parser.add_argument(
"--ID",
type=int,
required=True,
help="Desired ID of the current motor (e.g. 1,2,3)",
)
parser.add_argument(
"--baudrate",
type=int,
default=1000000,
help="Desired baudrate for the motor (default: 1000000)",
)
args = parser.parse_args()