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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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tests/motors/test_dynamixel.py
+9 -3
View File
@@ -405,12 +405,18 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
read_pos_stub = mock_motors.build_sequential_sync_read_stub(
*X_SERIES_CONTROL_TABLE["Present_Position"], positions
)
with patch("lerobot.motors.motors_bus.enter_pressed", side_effect=[False, True]):
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(handshake=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(handshake=False)
with (
patch("lerobot.motors.motors_bus.enter_pressed", side_effect=[False, True]),
patch("lerobot.motors.motors_bus.time.sleep") as mock_sleep,
patch.object(bus, "sync_read", wraps=bus.sync_read) as mock_sync_read,
):
mins, maxes = bus.record_ranges_of_motion(display_values=False)
assert mock_motors.stubs[read_pos_stub].calls == 3
assert all(call.kwargs["num_retry"] == 5 for call in mock_sync_read.call_args_list)
mock_sleep.assert_called_once_with(0.02)
assert mins == expected_mins
assert maxes == expected_maxes
tests/motors/test_feetech.py
+9 -3
View File
@@ -509,12 +509,18 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
stub = mock_motors.build_sequential_sync_read_stub(
*STS_SMS_SERIES_CONTROL_TABLE["Present_Position"], positions
)
with patch("lerobot.motors.motors_bus.enter_pressed", side_effect=[False, True]):
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(handshake=False)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(handshake=False)
with (
patch("lerobot.motors.motors_bus.enter_pressed", side_effect=[False, True]),
patch("lerobot.motors.motors_bus.time.sleep") as mock_sleep,
patch.object(bus, "sync_read", wraps=bus.sync_read) as mock_sync_read,
):
mins, maxes = bus.record_ranges_of_motion(display_values=False)
assert mock_motors.stubs[stub].calls == 3
assert all(call.kwargs["num_retry"] == 5 for call in mock_sync_read.call_args_list)
mock_sleep.assert_called_once_with(0.02)
assert mins == expected_mins
assert maxes == expected_maxes