def make_connection(driver, baudrate=1000000, timeout=5, port_str=None):
    """
    Opens a connection to the dynamixel's USB interface
    :param driver: Driver used. Returned by get_driver()
    :param baudrate: Baud rate configured on the motors of interest.
    :param timeout: Connection timeout
    :param port_str: None or "None" - will search for /dev/ttyUSB* or /dev/ttyACM* and connect to the first
    :return:
    """
    return driver.make_connection(baudrate=baudrate, timeout=timeout, port_str=port_str)