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Update docstrings

This commit is contained in:
Simon Alibert 2025-03-15 21:42:54 +01:00
parent bd5b181dfd
commit eeeccdba53
3 changed files with 45 additions and 71 deletions
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38
lerobot/common/motors/dynamixel/dynamixel.py
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@ -202,41 +202,9 @@ def convert_to_bytes(value, n_bytes: int):
class DynamixelMotorsBus(MotorsBus): class DynamixelMotorsBus(MotorsBus):
""" """
The DynamixelMotorsBus class allows to efficiently read and write to the attached motors. It relies on The Dynamixel implementation for a MotorsBus. It relies on the python dynamixel sdk to communicate with
the python dynamixel sdk to communicate with the motors. For more info, see the [Dynamixel SDK Documentation](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/python_read_write_protocol_2_0/#python-read-write-protocol-20). the motors. For more info, see the Dynamixel SDK Documentation:
https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/python_read_write_protocol_2_0/#python-read-write-protocol-20).
A DynamixelMotorsBus instance requires a port (e.g. `DynamixelMotorsBus(port="/dev/tty.usbmodem575E0031751"`)).
To find the port, you can run our utility script:
```bash
python lerobot/scripts/find_motors_bus_port.py
>>> Finding all available ports for the MotorBus.
>>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
>>> Remove the usb cable from your DynamixelMotorsBus and press Enter when done.
>>> The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751.
>>> Reconnect the usb cable.
```
Example of usage for 1 motor connected to the bus:
```python
motor_name = "gripper"
motor_index = 6
motor_model = "xl330-m288"
motors_bus = DynamixelMotorsBus(
port="/dev/tty.usbmodem575E0031751",
motors={motor_name: (motor_index, motor_model)},
)
motors_bus.connect()
position = motors_bus.read("Present_Position")
# move from a few motor steps as an example
few_steps = 30
motors_bus.write("Goal_Position", position + few_steps)
# when done, consider disconnecting
motors_bus.disconnect()
```
""" """
model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE) model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)

37
lerobot/common/motors/feetech/feetech.py
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@ -215,41 +215,8 @@ def convert_to_bytes(value, n_bytes: int):
class FeetechMotorsBus(MotorsBus): class FeetechMotorsBus(MotorsBus):
""" """
The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on the
the python feetech sdk to communicate with the motors. For more info, see the [feetech SDK Documentation](https://emanual.robotis.com/docs/en/software/feetech/feetech_sdk/sample_code/python_read_write_protocol_2_0/#python-read-write-protocol-20). python feetech sdk to communicate with the motors, which is itself based on the dynamixel sdk.
A FeetechMotorsBus instance requires a port (e.g. `FeetechMotorsBus(port="/dev/tty.usbmodem575E0031751"`)).
To find the port, you can run our utility script:
```bash
python lerobot/scripts/find_motors_bus_port.py
>>> Finding all available ports for the MotorsBus.
>>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
>>> Remove the usb cable from your FeetechMotorsBus and press Enter when done.
>>> The port of this FeetechMotorsBus is /dev/tty.usbmodem575E0031751.
>>> Reconnect the usb cable.
```
Example of usage for 1 motor connected to the bus:
```python
motor_name = "gripper"
motor_index = 6
motor_model = "sts3215"
motors_bus = FeetechMotorsBus(
port="/dev/tty.usbmodem575E0031751",
motors={motor_name: (motor_index, motor_model)},
)
motors_bus.connect()
position = motors_bus.read("Present_Position")
# move from a few motor steps as an example
few_steps = 30
motors_bus.write("Goal_Position", position + few_steps)
# when done, consider disconnecting
motors_bus.disconnect()
```
""" """
model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE) model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)

41
lerobot/common/motors/motors_bus.py
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@ -154,7 +154,46 @@ class PacketHandler(Protocol):
class MotorsBus(abc.ABC): class MotorsBus(abc.ABC):
"""The main LeRobot class for implementing motors buses.""" """The main LeRobot class for implementing motors buses.
There are currently two implementations of this abstract class:
- DynamixelMotorsBus
- FeetechMotorsBus
Note: This class may evolve in the future should we add support for other manufacturers SDKs.
A MotorsBus allows to efficiently read and write to the attached motors.
It represents a several motors daisy-chained together and connected through a serial port.
A MotorsBus subclass instance requires a port (e.g. `FeetechMotorsBus(port="/dev/tty.usbmodem575E0031751"`)).
To find the port, you can run our utility script:
```bash
python lerobot/scripts/find_motors_bus_port.py
>>> Finding all available ports for the MotorsBus.
>>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
>>> Remove the usb cable from your MotorsBus and press Enter when done.
>>> The port of this MotorsBus is /dev/tty.usbmodem575E0031751.
>>> Reconnect the usb cable.
```
Example of usage for 1 Feetech sts3215 motor connected to the bus:
```python
motors_bus = FeetechMotorsBus(
port="/dev/tty.usbmodem575E0031751",
motors={"gripper": (6, "sts3215")},
)
motors_bus.connect()
position = motors_bus.read("Present_Position")
# Move from a few motor steps as an example
few_steps = 30
motors_bus.write("Goal_Position", position + few_steps)
# When done, properly disconnect the port using
motors_bus.disconnect()
```
"""
model_ctrl_table: dict[str, dict] model_ctrl_table: dict[str, dict]
model_resolution_table: dict[str, int] model_resolution_table: dict[str, int]