Missing motor IDs

[yzhyagao]

Ticket Type

🐛 Bug Report (Something isn't working)

Environment & System Info

(lerobot) cp@ws:~/lerobot$ lerobot-info
- LeRobot version: 0.4.4
- Platform: Linux-6.8.0-106-generic-x86_64-with-glibc2.35
- Python version: 3.10.12
- Huggingface Hub version: 0.35.3
- Datasets version: 4.1.1
- Numpy version: 2.2.6
- FFmpeg version: 7.1.3
- PyTorch version: 2.7.1+cu126
- Is PyTorch built with CUDA support?: True
- Cuda version: 12.6
- GPU model: NVIDIA GeForce RTX 4090
- Using GPU in script?: <fill in>
- lerobot scripts: ['lerobot-calibrate', 'lerobot-dataset-viz', 'lerobot-edit-dataset', 'lerobot-eval', 'lerobot-find-cameras', 'lerobot-find-joint-limits', 'lerobot-find-port', 'lerobot-imgtransform-viz', 'lerobot-info', 'lerobot-record', 'lerobot-replay', 'lerobot-setup-can', 'lerobot-setup-motors', 'lerobot-teleoperate', 'lerobot-train', 'lerobot-train-tokenizer']

Description

(lerobot) cp@ws:~/lerobot$ lerobot-calibrate --robot.type=so101_follower --robot.port=/dev/ttyACM1 --robot.id=my_awesome_follower_arm
INFO 2026-03-24 15:46:34 calibrate.py:81 {'robot': {'calibration_dir': None,
'cameras': {},
'disable_torque_on_disconnect': True,
'id': 'my_awesome_follower_arm',
'max_relative_target': None,
'port': '/dev/ttyACM1',
'use_degrees': False},
'teleop': None}
Traceback (most recent call last):
File "/home/cp/venvs/lerobot/.venv/bin/lerobot-calibrate", line 10, in
sys.exit(main())
File "/home/cp/lerobot/src/lerobot/scripts/lerobot_calibrate.py", line 98, in main
calibrate()
File "/home/cp/venvs/lerobot/.venv/lib/python3.10/site-packages/draccus/argparsing.py", line 225, in wrapper_inner
response = fn(cfg, *args, **kwargs)
File "/home/cp/lerobot/src/lerobot/scripts/lerobot_calibrate.py", line 88, in calibrate
device.connect(calibrate=False)
File "/home/cp/lerobot/src/lerobot/utils/decorators.py", line 39, in wrapper
return func(self, *args, **kwargs)
File "/home/cp/lerobot/src/lerobot/robots/so_follower/so_follower.py", line 95, in connect
self.bus.connect()
File "/home/cp/lerobot/src/lerobot/utils/decorators.py", line 39, in wrapper
return func(self, *args, **kwargs)
File "/home/cp/lerobot/src/lerobot/motors/motors_bus.py", line 504, in connect
self._connect(handshake)
File "/home/cp/lerobot/src/lerobot/motors/motors_bus.py", line 513, in _connect
self._handshake()
File "/home/cp/lerobot/src/lerobot/motors/feetech/feetech.py", line 166, in _handshake
self._assert_motors_exist()
File "/home/cp/lerobot/src/lerobot/motors/motors_bus.py", line 480, in _assert_motors_exist
raise RuntimeError("\n".join(error_lines))
RuntimeError: FeetechMotorsBus motor check failed on port '/dev/ttyACM1':

Missing motor IDs:

• 1 (expected model: 777)
• 6 (expected model: 777)

Full expected motor list (id: model_number):
{1: 777, 2: 777, 3: 777, 4: 777, 5: 777, 6: 777}

Full found motor list (id: model_number):
{2: 777, 3: 777, 4: 777, 5: 777}
我之前做过 ACT 效果不怎么好，就放在那里大概有10 分钟左右也一直不有动过，后面再重启就发现报这个问题，我看了#2819 这个人的贴子说是电机坏了，有什么办法能排查吗？我想知道是不是电机坏了，还是其他问题

Context & Reproduction

No response

Relevant logs or stack trace

Checklist

• I have searched existing tickets to ensure this isn't a duplicate.
• I am using the latest version of the main branch.
• I have verified this is not an environment-specific problem.

Additional Info / Workarounds

#2819