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Add retries while recording motor ranges#3494

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tom-doerr wants to merge 1 commit intohuggingface:mainfrom
tom-doerr:calibration-read-retry
Open

Add retries while recording motor ranges#3494
tom-doerr wants to merge 1 commit intohuggingface:mainfrom
tom-doerr:calibration-read-retry

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@tom-doerr
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Summary

  • retry transient sync-read failures while recording motor range calibration
  • add a short delay between live range display refreshes to avoid hammering the serial bus

Test

  • python -m py_compile src/lerobot/motors/motors_bus.py
  • manually calibrated an SO-100 follower arm after hitting intermittent Feetech status packet drops

Copilot AI review requested due to automatic review settings May 2, 2026 05:24
@github-actions github-actions Bot added the robots Issues concerning robots HW interfaces label May 2, 2026
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Pull request overview

This PR improves robustness and bus load during interactive motor range-of-motion calibration by adding retries to transient sync-read failures and throttling the live display refresh loop.

Changes:

  • Add num_retry=5 to sync_read("Present_Position", ...) calls during record_ranges_of_motion().
  • Insert a short time.sleep(0.02) delay between console refreshes to reduce serial bus hammering.
  • Import time to support the refresh delay.

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