8000 Feat/ add scan motors tool for troubleshooting during assembly and calibration by ivelin · Pull Request #657 · huggingface/lerobot · GitHub
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Feat/ add scan motors tool for troubleshooting during assembly and calibration #657

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@ivelin ivelin commented Jan 27, 2025 •
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What this does

This PR introduces a command line tool that helps troubleshoot arm assembly issues.
Specifically it scans the motor bus and shows status for each discovered motor on a given USB port.

The PR also adds 2 Troubleshooting sub-sections: one the assembly section and another to the calibrate section of the so100 assembly doc.

This originated in problems I had during calibration.

The calibrate tool was throwing error messages that was not documented in the assembly steps:

First issue:

ConnectionError: Read failed due to communication error on port /dev/ttyACM0 for group_key Torque_Enable_shoulder_pan_shoulder_lift_elbow_flex_wrist_flex_wrist_roll_gripper: [TxRxResult] There is no status packet!

The error message did not make it obvious what the root cause of the problem was. Here is the discord discussion.

Second issue:

Calibration is done! Saving calibration file '.cache/calibration/moss/main_leader.json'
Activating torque on main follower arm.
Wrong motor position range detected for gripper. Expected to be in nominal range of [0, 100] % (a full linear translation), with a maximum range of [-10, 110] % to account for some imprecision during calibration, but present value is 143.7950897216797 %. This might be due to a cable connection issue creating an artificial jump in motor values. You need to recalibrate ...

Solution provided by @Gordoa40 in discord help channel.

How it was tested

I tested the tool locally on Ubuntu with my 2 so100 robot arms.

How to checkout & try? (for the reviewer)

Checkout the code and run the script as shown in the example below on a Linux computer that is connected to a so100 robot arm.

Example:

lerobot$ python lerobot/scripts/scan_motors.py   --port /dev/ttyACM1   --brand feetech   --model sts3215 
Connected on port /dev/ttyACM1
Scanning all baudrates and motor indices
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 43.09it/s]
6 motor ID(s) detected for baud rate 1000000. Motor IDs: [1, 2, 3, 4, 5, 6].
Present Position 1940
Offset 0
Present Position 990
Offset 0
Present Position 2094
Offset 0
Present Position 3747
Offset 0
Present Position 2997
Offset 0
Present Position 853
Offset 0
Setting bus baud rate to 128000. Previously 1000000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.42it/s]
Setting bus baud rate to 500000. Previously 128000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.60it/s]
Setting bus baud rate to 115200. Previously 500000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.40it/s]
Setting bus baud rate to 57600. Previously 115200.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.14it/s]
Setting bus baud rate to 38400. Previously 57600.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 13.91it/s]
Setting bus baud rate to 19200. Previously 38400.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 13.24it/s]
Setting bus baud rate to 250000. Previously 19200.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.54it/s]
Scan finished.
Disconnected from motor bus.

@ivelin
feat: smolvlm model with pusht train notebook
4fb01ae 
Signed-off-by: ivelin <ivelin117@gmail.com>
@ivelin
Merge branch 'main' of https://github.com/huggingface/lerobot into sm…
94ab721 
…olvlm-pusht
@ivelin
Merge branch 'main' of https://github.com/huggingface/lerobot into fe…
8c0ad75 
…at/scan_motors
@ivelin
feat: add scan_motors.py tool for troubleshooting
0825e2e 
Signed-off-by: ivelin <ivelin117@gmail.com>
@ivelin
fix: remove work in progress files from branch
843c099 
Signed-off-by: ivelin <ivelin117@gmail.com>
@ivelin
docs: explain how to determine which cable is disconnected
2920372 
Signed-off-by: ivelin <ivelin117@gmail.com>
@ivelin
docs: add calibrate troubleshooting sub-section for shaft out of posi…
1a4f098 
…tion problem

Signed-off-by: ivelin <ivelin117@gmail.com>
@imstevenpmwork imstevenpmwork added enhancement Suggestions for new features or improvements robots Issues concerning robots HW interfaces documentation Improvements or fixes to the project’s docs labels Apr 17, 2025
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