feat: added releaseMotors

examples/robot-control-web/components/CalibrationPanel.tsx

@@ -11,8 +11,6 @@ import { Badge } from "./ui/badge.js";
 import {
   calibrate,
   releaseMotors,
-  WebSerialPortWrapper,
-  createSO100Config,
   type WebCalibrationResults,
   type LiveCalibrationData,
   type CalibrationProcess,
@@ -64,22 +62,13 @@ export function CalibrationPanel({ robot, onFinish }: CalibrationPanelProps) {
     setMotorData(initialData);
   }, [motorNames]);
 
-  // ✅ Release motor torque
+  // Release motor torque
   const releaseMotorTorque = useCallback(async () => {
     try {
       setIsPreparing(true);
       setStatus("🔓 Releasing motor torque - joints can now be moved freely");
 
-      if (!robot.robotType) {
-        throw new Error("Robot type not configured");
-      }
-
-      // Create port and get motor config
-      const port = new WebSerialPortWrapper(robot.port);
-      await port.initialize();
-
-      const config = createSO100Config(robot.robotType);
-      await releaseMotors(port, config.motorIds);
+      await releaseMotors(robot);
 
       setStatus("✅ Joints are now free to move - set your homing position");
     } catch (error) {

examples/test-sequential-operations.ts

@@ -3,14 +3,7 @@
  * Tests: findPort → calibrate → releaseMotors → teleoperate
  */
 
-import {
-  findPort,
-  calibrate,
-  releaseMotors,
-  teleoperate,
-  WebSerialPortWrapper,
-  createSO100Config,
-} from "@lerobot/web";
+import { findPort, calibrate, releaseMotors, teleoperate } from "@lerobot/web";
 
 let isRunning = false;
 
@@ -68,21 +61,15 @@ window.runSequentialTest = async function () {
     log(`✅ Found robot: ${robot.name} (${robot.robotType})`);
     log(`   Serial: ${robot.serialNumber}`);
 
-    // Step 2: Release motors first, then calibrate
+    // Step 2: Release motors first for calibration setup
     log("\n2️⃣ Releasing motors for calibration setup...");
 
     if (!robot.robotType) {
       throw new Error("Robot type not configured");
     }
 
-    // Release motors so you can move the arm during calibration
-    log("🔧 Creating port and config for motor release...");
-    const setupPort = new WebSerialPortWrapper(robot.port);
-    await setupPort.initialize();
-    const setupConfig = createSO100Config(robot.robotType);
-
-    log(`🔓 Releasing ${setupConfig.motorIds.length} motors...`);
-    await releaseMotors(setupPort, setupConfig.motorIds);
+    log("🔓 Releasing all motors...");
+    await releaseMotors(robot);
     log("✅ Motors released - you can now move the arm freely!");
 
     // Now start calibration
@@ -275,12 +262,6 @@ window.runSequentialTest = async function () {
       log("⏱️ Auto-stopping teleoperation for test...");
       teleoperationProcess.stop();
       log("\n🎉 All sequential operations completed successfully!");
-      log(
-        "\n📝 RESULT: The current approach works but is too complex for users!"
-      );
-      log(
-        "📝 Users shouldn't need WebSerialPortWrapper and createSO100Config!"
-      );
       setButtonState(false);
     }, 8000);
   } catch (error: any) {

packages/web/src/index.ts

@@ -9,6 +9,7 @@
 export { calibrate } from "./calibrate.js";
 export { teleoperate } from "./teleoperate.js";
 export { findPort } from "./find_port.js";
+export { releaseMotors } from "./release_motors.js";
 
 // Browser support utilities
 export {
@@ -48,4 +49,3 @@ export {
   createSO100Config,
   SO100_KEYBOARD_CONTROLS,
 } from "./robots/so100_config.js";
-export { releaseMotors } from "./utils/motor-communication.js";

packages/web/src/release_motors.ts

@@ -0,0 +1,70 @@
+/**
+ * User-facing motor release functionality
+ * Simple API - pass in robotConnection, motors get released
+ *
+ * Handles robot configuration and port management internally
+ */
+
+import { WebSerialPortWrapper } from "./utils/serial-port-wrapper.js";
+import { createSO100Config } from "./robots/so100_config.js";
+import { releaseMotors as releaseMotorsLowLevel } from "./utils/motor-communication.js";
+import type { RobotConnection } from "./types/robot-connection.js";
+
+/**
+ * Release robot motors (allows free movement by hand)
+ * Perfect for calibration setup or manual positioning
+ *
+ * @param robotConnection - Connected robot with configured type
+ * @param motorIds - Optional specific motor IDs to release (defaults to all motors for robot type)
+ * @throws Error if robot type not configured or motorIds invalid
+ */
+export async function releaseMotors(
+  robotConnection: RobotConnection,
+  motorIds?: number[]
+): Promise<void> {
+  // Validate robot type is configured
+  if (!robotConnection.robotType) {
+    throw new Error(
+      "Robot type is required to release motors. Please configure the robot first."
+    );
+  }
+
+  // Validate robot connection
+  if (!robotConnection.isConnected || !robotConnection.port) {
+    throw new Error(
+      "Robot is not connected. Please use findPort() to connect first."
+    );
+  }
+
+  // Create port wrapper for communication
+  const port = new WebSerialPortWrapper(robotConnection.port);
+  await port.initialize();
+
+  // Get robot-specific configuration
+  let robotConfig;
+  if (robotConnection.robotType.startsWith("so100")) {
+    robotConfig = createSO100Config(robotConnection.robotType);
+  } else {
+    throw new Error(`Unsupported robot type: ${robotConnection.robotType}`);
+  }
+
+  // Determine which motors to release
+  const motorsToRelease = motorIds || robotConfig.motorIds;
+
+  // Validate motorIds are valid for this robot type
+  if (motorIds) {
+    const invalidMotors = motorIds.filter(
+      (id) => !robotConfig.motorIds.includes(id)
+    );
+    if (invalidMotors.length > 0) {
+      throw new Error(
+        `Invalid motor IDs [${invalidMotors.join(", ")}] for ${
+          robotConnection.robotType
+        }. Valid IDs: [${robotConfig.motorIds.join(", ")}]`
+      );
+    }
+  }
+
+  // Release the motors using low-level function
+  await releaseMotorsLowLevel(port, motorsToRelease);
+}