First call to leader_arm.connect() does nothing, then manual motor configuration breaks

[trevormcinroe]

System Info

- `lerobot` version: 0.1.0
- Platform: Linux-5.4.0-150-generic-x86_64-with-glibc2.27
- Python version: 3.11.11
- Huggingface_hub version: 0.26.5
- Dataset version: 3.2.0
- Numpy version: 1.26.4
- PyTorch version (GPU?): 2.5.1+cu118 (True)
- Cuda version: 11080
- Using GPU in script?: No

Information

• One of the scripts in the examples/ folder of LeRobot
• My own task or dataset (give details below)

Reproduction

I am following the instructions in https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md

I connect my robots for the first time and run the following script:

from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus

leader_port = "/dev/tty.usbmodem575E0031751"
follower_port = "/dev/tty.usbmodem575E0032081"

leader_arm = DynamixelMotorsBus(
    port=leader_port,
    ...

leader_arm.connect()

The instructions and linked video show that the follow error should pop up during the first connection:

/!\ A configuration issue has been detected with your motors:
If this is the first time you are using these motors, press enter to configure your motors...
...

However, on my run, this motor configuration process does not appear. Something is clearly wrong, as this code errors out: leader_arm.read("Present_Position")

So, I try to manually configure the motors with the following command, which produces the error Error occurred during motor configuration: 'Lock':

python3 lerobot/scripts/configure_motor.py --port /dev/ttyACM0 --brand dynamixel --model xl330-m077 --ID 1 --baudrate 57600Connected on port /dev/ttyACM0
Scanning all baudrates and motor indices
Setting bus baud rate to 9600. Previously 1000000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 10.71it/s]
Setting bus baud rate to 57600. Previously 9600.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 15.35it/s]
Setting bus baud rate to 1000000. Previously 57600.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.58it/s]
Setting bus baud rate to 2000000. Previously 1000000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.60it/s]
Setting bus baud rate to 115200. Previously 2000000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.19it/s]
Setting bus baud rate to 3000000. Previously 115200.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.61it/s]
Setting bus baud rate to 4000000. Previously 3000000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.62it/s]
Motor index found at: 1
Setting its baudrate to 57600
Setting bus baud rate to 57600. Previously 4000000.
Setting its index to desired index 1
Error occurred during motor configuration: 'Lock'
Disconnected from motor bus.

How exactly do I proceed to set up the robots? I have viewed the motor in the Dynamixel Wizard. All appears fine, and I can successfully ping the motor through this process.

Expected behavior

The expected motor-calibration process.

[trevormcinroe]

The error occurs due to this line: https://github.com/huggingface/lerobot/blob/main/lerobot/scripts/configure_motor.py#L105

because the key "Lock" is not within DynamixelMotorBus.model_ctrl_table here: https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/motors/dynamixel.py#L764

[trevormcinroe]

For those in a similar spot:

I got around the issue by not using the provided code to configure the motors. Instead, I used Dynamixels official software to manually set the motor ids and the baudrates: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/#software-installation