Jt servo debug UI

[base698]

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What this does

Adds a cross-platform servo motor debug UI tool for testing and debugging Feetech and Dynamixel motors through LeRobot's motors bus API. This pure Python tkinter-based interface provides similar functionality to the https://github.com/Kotakku/FT_SCServo_Debug_Qt application but works natively with LeRobot's motor infrastructure.

Key features:

• Auto-detect USB serial ports across macOS, Linux, and Windows
• Discover connected motors via broadcast ping
• Read/write motor control table registers with direct editing support
• Real-time motor feedback monitoring (position, torque, speed, temperature, voltage)
• Position control with slider and sweep functionality
• Live plotting of motor parameters

How it was tested

• Tested motor discovery with STS3215 servos (model 777) on macOS via USB serial connection
• Verified reading and writing control table registers including torque enable, goal position, and limits
• Tested real-time feedback monitoring at 200ms intervals
• Validated position sweep functionality with configurable delays

How to checkout & try? (for the reviewer)

Run the servo debug UI

uv run src/lerobot/motors/servo_debug_ui.py

1. Connect your Feetech motors via USB
2. Click the refresh button (↻) to detect available COM ports
3. Select your port and baudrate (default 1000000)
4. Click "Open" to connect
5. Click "Search" to discover connected motors
6. Select a motor from the list to view its control table and start monitoring