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Add FeetechMotorsBus, SO-100, Moss-v1 (#419)

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Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-10-25 11:23:55 +02:00
committed by GitHub
parent 114870d703
commit 07e8716315
42 changed files with 2911 additions and 340 deletions
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18
tests/test_motors.py
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@@ -30,8 +30,8 @@ import time
import numpy as np
import pytest
from lerobot.common.robot_devices.motors.dynamixel import find_port
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.scripts.find_motors_bus_port import find_port
from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor
@@ -52,12 +52,24 @@ def test_configure_motors_all_ids_1(request, motor_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
if motor_type == "dynamixel":
# see X_SERIES_BAUDRATE_TABLE
smaller_baudrate = 9_600
smaller_baudrate_value = 0
elif motor_type == "feetech":
# see SCS_SERIES_BAUDRATE_TABLE
smaller_baudrate = 19_200
smaller_baudrate_value = 7
else:
raise ValueError(motor_type)
input("Are you sure you want to re-configure the motors? Press enter to continue...")
# This test expect the configuration was already correct.
motors_bus = make_motors_bus(motor_type, mock=mock)
motors_bus.connect()
motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
motors_bus.set_bus_baudrate(9_600)
motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus.motors))
motors_bus.set_bus_baudrate(smaller_baudrate)
motors_bus.write("ID", [1] * len(motors_bus.motors))
del motors_bus