Remove async in dynamixel

lerobot/common/robot_devices/cameras/opencv.py

@@ -98,6 +98,7 @@ class OpenCVCamera:
 
     ```python
     camera = OpenCVCamera(2)
+    camera.connect()
     color_image = camera.read()
     ```
     """

lerobot/common/robot_devices/motors/dynamixel.py

@@ -189,6 +189,23 @@ class DriveMode(enum.Enum):
 
 
 class DynamixelMotorsBus:
+    """
+    Example of usage for 1 motor connected to the bus:
+    ```python
+    motor_name = "gripper"
+    motor_index = 6
+    motor_model = "xl330-m077"
+
+    robot = DynamixelMotorsBus(
+        port="/dev/tty.usbmodem575E0031751",
+        motors={motor_name: (motor_index, motor_model)},
+    )
+    robot.connect()
+
+    while True:
+        robot.teleop_step()
+    ```
+    """
     def __init__(
         self,
         port: str,

lerobot/common/robot_devices/robots/koch.py

@@ -226,6 +226,9 @@ class KochRobot:
     Example of usage:
     ```python
     robot = KochRobot()
+    robot.connect()
+    while True:
+        robot.teleop_step()
     ```
     """
 
@@ -247,9 +250,6 @@ class KochRobot:
         self.is_connected = False
         self.logs = {}
 
-        self.async_read = False
-        self.async_write = False
-
     def connect(self):
         if self.is_connected:
             raise ValueError(f"KochRobot is already connected.")
@@ -323,9 +323,6 @@ class KochRobot:
         leader_pos = {}
         for name in self.leader_arms:
             now = time.perf_counter()
-            if self.async_read:
-                leader_pos[name] = self.leader_arms[name].async_read("Present_Position")
-            else:
             leader_pos[name] = self.leader_arms[name].read("Present_Position")
             self.logs[f"read_leader_{name}_pos_dt_s"] = time.perf_counter() - now
 
@@ -336,9 +333,6 @@ class KochRobot:
         # Send action
         for name in self.follower_arms:
             now = time.perf_counter()
-            if self.async_write:
-                self.follower_arms[name].async_write("Goal_Position", follower_goal_pos[name])
-            else:
             self.follower_arms[name].write("Goal_Position", follower_goal_pos[name])
             self.logs[f"write_follower_{name}_goal_pos_dt_s"] = time.perf_counter() - now
 
@@ -350,9 +344,6 @@ class KochRobot:
         follower_pos = {}
         for name in self.follower_arms:
             now = time.perf_counter()
-            if self.async_read:
-                follower_pos[name] = self.follower_arms[name].async_read("Present_Position")
-            else:
             follower_pos[name] = self.follower_arms[name].read("Present_Position")
             self.logs[f"read_follower_{name}_pos_dt_s"] = time.perf_counter() - now
 
@@ -394,9 +385,6 @@ class KochRobot:
         # Read follower position
         follower_pos = {}
         for name in self.follower_arms:
-            if self.async_read:
-                follower_pos[name] = self.follower_arms[name].async_read("Present_Position")
-            else:
             follower_pos[name] = self.follower_arms[name].read("Present_Position")
 
         # Create state by concatenating follower current position
@@ -432,7 +420,4 @@ class KochRobot:
                 from_idx = to_idx
 
         for name in self.follower_arms:
-            if self.async_write:
-                self.follower_arms[name].async_write("Goal_Position", follower_goal_pos[name].astype(np.int32))
-            else:
             self.follower_arms[name].write("Goal_Position", follower_goal_pos[name].astype(np.int32))