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fix(robots): add retries while recording motor ranges (#4126)

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* Add retries while recording motor ranges

* fix(motors): throttle calibration reads consistently

---------

Co-authored-by: tom-doerr <tomdoerr96@gmail.com>
This commit is contained in:
Steven Palma
2026-07-23 18:41:48 +02:00
committed by GitHub
parent a993af9c51
commit f59eae4e27
3 changed files with 27 additions and 11 deletions
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src/lerobot/motors/motors_bus.py
+9 -5
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@@ -23,6 +23,7 @@ from __future__ import annotations
import abc
import logging
import time
from collections.abc import Sequence
from contextlib import contextmanager
from dataclasses import dataclass
@@ -818,13 +819,13 @@ class SerialMotorsBus(MotorsBusBase):
"""
motor_names = self._get_motors_list(motors)
start_positions = self.sync_read("Present_Position", motor_names, normalize=False)
start_positions = self.sync_read("Present_Position", motor_names, normalize=False, num_retry=5)
mins = start_positions.copy()
maxes = start_positions.copy()
user_pressed_enter = False
while not user_pressed_enter:
positions = self.sync_read("Present_Position", motor_names, normalize=False)
positions = self.sync_read("Present_Position", motor_names, normalize=False, num_retry=5)
mins = {motor: min(positions[motor], min_) for motor, min_ in mins.items()}
maxes = {motor: max(positions[motor], max_) for motor, max_ in maxes.items()}
@@ -837,9 +838,12 @@ class SerialMotorsBus(MotorsBusBase):
if enter_pressed():
user_pressed_enter = True
if display_values and not user_pressed_enter:
# Move cursor up to overwrite the previous output
move_cursor_up(len(motor_names) + 3)
if not user_pressed_enter:
if display_values:
# Move cursor up to overwrite the previous output
move_cursor_up(len(motor_names) + 3)
# Throttle reads even when the live table is disabled.
time.sleep(0.02)
same_min_max = [motor for motor in motor_names if mins[motor] == maxes[motor]]
if same_min_max: