Improve feetech driver

README.md

@@ -65,7 +65,7 @@ To get started with Orca Core, follow these steps:
 
 ### Serial Port Permissions (Linux)
 
-On Linux, the serial port (e.g., `/dev/ttyUSB0`) is owned by the `dialout` group. If your user is not in this group, you will get a **permission denied** error and motors won't be detected.
+On Linux, the serial port (e.g., `/dev/ttyACM0`) is owned by the `dialout` group. If your user is not in this group, you will get a **permission denied** error and motors won't be detected.
 
 **Permanent fix** (requires re-login):
 
@@ -76,23 +76,23 @@ sudo usermod -aG dialout $USER
 **Temporary fix** (resets on reboot/replug):
 
 ```sh
-sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyACM0
 ```
 
-### Serial Port Path
+### Serial port, baudrate, and motor type
 
-Make sure the `port` field in your `config.yaml` matches your operating system:
+By default these are all **auto-detected** at connect time.
 
-| OS    | Example port                    |
-|-------|---------------------------------|
-| Linux | `/dev/ttyUSB0`                  |
-| macOS | `/dev/tty.usbserial-XXXXXXXX`   |
+However, you can declare them explicitly in `config.yaml`. Useful when:
 
----
+- **multiple hands are connected** at once → `port` disambiguates which one
+- **motors run at a non-default baudrate** → `baudrate` skips the probe sweep
+- **the auto-detection picks the wrong family** → `motor_type` forces a specific one
 
-**Note:**
-- Always ensure your `config.yaml` matches your hardware and wiring.
-- All scripts in the `scripts/` folder take the model path as their first argument.
-- For more advanced usage, see the other scripts and the API documentation.
+```yaml
+# Optional overrides:   auto-detected if omitted
+port: /dev/ttyACM0      # or /'dev/cu.usbmodemXXXX' on macOS
+baudrate: 1000000       # 1M for v2; 3M for v1 
+motor_type: dynamixel   # or 'feetech'
+```
 
----

docs/pages/getting-started-docs/setting-up-config.md

@@ -15,16 +15,32 @@ This file defines parameters crucial for the hand's operation, including communi
 
 ```yaml
 version: 0.2.0
-baudrate: 3000000
-port: /dev/ttyUSB0
 max_current: 400
 type: right
 control_mode: current_based_position
 ```
 
 **What should be changed?**
 
-You should change the `port` to match your system (Linux or macOS). Change `type` to right or left depending on the hand assembly you have. `max_current` is set to a value found to be sufficient; you can adjust it depending on the needs of your tasks. The `baudrate` or `control_mode` should not be changed based on the current implementation in the repo. If you decide to change them you have to adapt the code accordingly. 
+Change `type` to right or left depending on the hand assembly. `max_current` is set to a sane default; adjust if your tasks need more or less. `control_mode` should generally stay at `current_based_position`.
+
+#### Optional driver overrides
+
+`port`, `baudrate`, and `motor_type` are **not in the bundled configs** — they're auto-detected at connect time:
+
+- The serial port is found by USB VID, falling back to "the only adapter present" or an interactive picker.
+- The motor family (Dynamixel vs Feetech) is identified by pinging factory defaults on the bus.
+- The baudrate comes from the family's known set (1M / 3M for Dynamixel, 1M for Feetech).
+
+Drop any of these into `config.yaml` if you need to override that behaviour:
+
+```yaml
+port: /dev/cu.usbmodemXXXX  # only when multiple adapters are connected
+baudrate: 1000000           # only when motors are configured for a non-default rate
+motor_type: feetech         # only when probing might misidentify the bus
+```
+
+You won't normally need any of them — the script will tell you on the command line if a probe failed and asking for an override would help.
 
 ---
 

docs/pages/orca-core-docs/orca-core-scripts.md

@@ -239,17 +239,21 @@ python scripts/tension.py /path/to/orcahand_v1_left/config.yaml
 </details>
 
 <details>
-<summary><strong>test.py</strong></summary>
+<summary><strong>stress_test.py</strong></summary>
 
-A test script that connects to the ORCA Hand, enables torque, sets a specific pose for a few joints (index_mcp, middle_pip, pinky_abd), waits for 2 seconds, disables torque, and disconnects.
+Cycles the hand between OPEN and CLOSE poses while monitoring motor temperatures, aborting if any motor exceeds the safe operating temperature.
 
 <br><strong>Args:</strong><br>
 <ul>
     <li><strong>config_path</strong> (<strong>str</strong>, optional): Path to the hand config file (e.g., `/path/to/orcahand_v1_right/config.yaml`). If not provided, uses the default config path.</li>
+    <li><strong>--num-steps</strong> (<strong>int</strong>, optional): Interpolation steps per move (default 25).</li>
+    <li><strong>--step-size</strong> (<strong>float</strong>, optional): Sleep between interpolation steps in seconds (default 0.001).</li>
+    <li><strong>--hold</strong> (<strong>float</strong>, optional): Extra seconds to hold each pose AFTER motion completes (default 0).</li>
+    <li><strong>--motion-timeout</strong> (<strong>float</strong>, optional): Max seconds to wait for a pose to be reached (default 5).</li>
 </ul>
 
 <strong>Example:</strong>
 ```bash
-python scripts/test.py
+python scripts/stress_test.py
 ```
 </details>

orca_core/constants.py

@@ -22,6 +22,14 @@
     ],
 }
 
+# Baudrates the connect-time probe will try, per motor family, in priority
+# order. Used only when ``baudrate`` is not pinned in config.yaml. Feetech
+# motors ship at 1M; Dynamixels run at 1M (v2 hands) or 3M (v1 hands).
+MOTOR_BAUD_RATES: dict[str, list[int]] = {
+    "dynamixel": [1_000_000, 3_000_000],
+    "feetech": [1_000_000],
+}
+
 """
 Dynamixel specific! TODO(fracapuano): Add feetech control modes too.
 PWM (id: 2) control modeis omitted becayse it bypasses PID controllers entirely.

orca_core/hand_config.py

@@ -8,9 +8,17 @@
 
 import os
 from dataclasses import dataclass, field
-from typing import Dict, List, Literal
-
-from .constants import CONTROL_MODES, DEFAULT_MODEL_NAME, JOINT_IDS, JOINT_ROM_DICT, JOINT_TO_MOTOR_MAP, MOTOR_IDS
+from typing import Dict, List, Literal, Optional
+
+from .constants import (
+    CONTROL_MODES,
+    DEFAULT_MODEL_NAME,
+    JOINT_IDS,
+    JOINT_ROM_DICT,
+    JOINT_TO_MOTOR_MAP,
+    MOTOR_IDS,
+    SUPPORTED_MOTOR_TYPES,
+)
 from .joint_position import OrcaJointPositions
 from .utils.utils import get_model_path, read_yaml
 
@@ -181,11 +189,11 @@ class OrcaHandConfig(BaseHandConfig):
     """ORCA hand configuration layered on top of the shared base spec."""
 
     calibration_path: str = ""
-    baudrate: int = 3_000_000
-    port: str = "/dev/ttyUSB0"
+    baudrate: Optional[int] = None
+    port: Optional[str] = None
     max_current: int = 300  # mA
     control_mode: str = "current_based_position"
-    motor_type: str = "dynamixel"
+    motor_type: Optional[str] = None
     motor_ids: List[int] = field(default_factory=list)
     joint_to_motor_map: Dict[str, int] = field(default_factory=dict)
     joint_inversion_dict: Dict[str, bool] = field(default_factory=dict)
@@ -291,6 +299,12 @@ def validate_config(self) -> None:
         if self.control_mode not in CONTROL_MODES:
             raise HandConfigValidationError("Invalid control mode.")
 
+        if self.motor_type is not None and self.motor_type not in SUPPORTED_MOTOR_TYPES:
+            raise HandConfigValidationError(
+                f"Unknown motor_type: {self.motor_type!r}. "
+                f"Expected one of {SUPPORTED_MOTOR_TYPES} or omit for auto-detection."
+            )
+
         if self.max_current < self.calibration_current:
             raise HandConfigValidationError(
                 "Max current should be greater than the calibration current."