Merge branch 'main' into add_reward_assignment

lerobot/common/robot_devices/control_utils.py

@@ -334,7 +334,15 @@ def sanity_check_dataset_name(repo_id, policy):
     _, dataset_name = repo_id.split("/")
     # either repo_id doesnt start with "eval_" and there is no policy
     # or repo_id starts with "eval_" and there is a policy
-    if dataset_name.startswith("eval_") == (policy is None):
+
+    # Check if dataset_name starts with "eval_" but policy is missing
+    if dataset_name.startswith("eval_") and policy is None:
+        raise ValueError(
+            f"Your dataset name begins with 'eval_' ({dataset_name}), but no policy is provided."
+        )
+
+    # Check if dataset_name does not start with "eval_" but policy is provided
+    if not dataset_name.startswith("eval_") and policy is not None:
         raise ValueError(
-            f"Your dataset name begins by 'eval_' ({dataset_name}) but no policy is provided ({policy})."
+            f"Your dataset name does not begin with 'eval_' ({dataset_name}), but a policy is provided ({policy})."
         )

lerobot/scripts/find_motors_bus_port.py

@@ -1,36 +1,42 @@
+import os
 import time
 from pathlib import Path
 
+from serial.tools import list_ports  # Part of pyserial library
+
 
 def find_available_ports():
-    ports = []
-    for path in Path("/dev").glob("tty*"):
-        ports.append(str(path))
+    if os.name == "nt":  # Windows
+        # List COM ports using pyserial
+        ports = [port.device for port in list_ports.comports()]
+    else:  # Linux/macOS
+        # List /dev/tty* ports for Unix-based systems
+        ports = [str(path) for path in Path("/dev").glob("tty*")]
     return ports
 
 
 def find_port():
     print("Finding all available ports for the MotorsBus.")
     ports_before = find_available_ports()
-    print(ports_before)
+    print("Ports before disconnecting:", ports_before)
 
-    print("Remove the usb cable from your MotorsBus and press Enter when done.")
-    input()
+    print("Remove the USB cable from your MotorsBus and press Enter when done.")
+    input()  # Wait for user to disconnect the device
 
-    time.sleep(0.5)
+    time.sleep(0.5)  # Allow some time for port to be released
     ports_after = find_available_ports()
     ports_diff = list(set(ports_before) - set(ports_after))
 
     if len(ports_diff) == 1:
         port = ports_diff[0]
         print(f"The port of this MotorsBus is '{port}'")
-        print("Reconnect the usb cable.")
+        print("Reconnect the USB cable.")
     elif len(ports_diff) == 0:
         raise OSError(f"Could not detect the port. No difference was found ({ports_diff}).")
     else:
         raise OSError(f"Could not detect the port. More than one port was found ({ports_diff}).")
 
 
 if __name__ == "__main__":
-    # Helper to find the usb port associated to all your MotorsBus.
+    # Helper to find the USB port associated with your MotorsBus.
     find_port()