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Add retries while recording motor ranges #3494

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Add retries while recording motor ranges #3494

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6 changes: 4 additions & 2 deletions src/lerobot/motors/motors_bus.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@

import abc
import logging
import time
from collections.abc import Sequence
from contextlib import contextmanager
from dataclasses import dataclass
Expand Down Expand Up @@ -818,13 +819,13 @@ def record_ranges_of_motion(
"""
motor_names = self._get_motors_list(motors)

start_positions = self.sync_read("Present_Position", motor_names, normalize=False)
start_positions = self.sync_read("Present_Position", motor_names, normalize=False, num_retry=5)
mins = start_positions.copy()
maxes = start_positions.copy()

user_pressed_enter = False
while not user_pressed_enter:
positions = self.sync_read("Present_Position", motor_names, normalize=False)
positions = self.sync_read("Present_Position", motor_names, normalize=False, num_retry=5)
mins = {motor: min(positions[motor], min_) for motor, min_ in mins.items()}
maxes = {motor: max(positions[motor], max_) for motor, max_ in maxes.items()}

Expand All @@ -840,6 +841,7 @@ def record_ranges_of_motion(
if display_values and not user_pressed_enter:
# Move cursor up to overwrite the previous output
move_cursor_up(len(motor_names) + 3)
time.sleep(0.02)

same_min_max = [motor for motor in motor_names if mins[motor] == maxes[motor]]
if same_min_max:
Expand Down
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