forked from tangger/lerobot
change manual motor calib
This commit is contained in:
Pepijn
1
.cache/calibration/so100/main_follower.json
Normal file
1
.cache/calibration/so100/main_follower.json
Normal file
@@ -0,0 +1 @@
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{"homing_offset": [-1985, 1915, 1984, 2008, 1765, 0], "drive_mode": [0, 0, 0, 0, 0, 0], "start_pos": [0, 0, 0, 0, 0, 1007], "end_pos": [0, 0, 0, 0, 0, 2448], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}
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1
.cache/calibration/so100/main_leader.json
Normal file
1
.cache/calibration/so100/main_leader.json
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@@ -0,0 +1 @@
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{"homing_offset": [1433, 4, 1917, -263, 972, 0], "drive_mode": [0, 0, 0, 0, 0, 0], "start_pos": [0, 0, 0, 0, 0, 1534], "end_pos": [0, 0, 0, 0, 0, 2590], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}
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@@ -20,8 +20,8 @@ MAX_ID_RANGE = 252
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# which corresponds to a half rotation on the left and half rotation on the right.
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# Some joints might require higher range, so we allow up to [-270, 270] degrees until
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# an error is raised.
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LOWER_BOUND_DEGREE = -270
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UPPER_BOUND_DEGREE = 270
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LOWER_BOUND_DEGREE = -180
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UPPER_BOUND_DEGREE = 180
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# For joints in percentage (i.e. joints that move linearly like the prismatic joint of a gripper),
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# their nominal range is [0, 100] %. For instance, for Aloha gripper, 0% is fully
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# closed, and 100% is fully open. To account for slight calibration issue, we allow up to
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@@ -116,28 +116,59 @@ NUM_READ_RETRY = 20
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NUM_WRITE_RETRY = 20
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def convert_degrees_to_steps(degrees: float | np.ndarray, models: str | list[str]) -> np.ndarray:
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def convert_degrees_to_steps(degrees: float | np.ndarray, models: list[str]) -> np.ndarray:
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"""This function converts the degree range to the step range for indicating motors rotation.
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It assumes a motor achieves a full rotation by going from -180 degree position to +180.
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The motor resolution (e.g. 4096) corresponds to the number of steps needed to achieve a full rotation.
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"""
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resolutions = [MODEL_RESOLUTION[model] for model in models]
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resolutions = np.array([MODEL_RESOLUTION[m] for m in models], dtype=float)
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steps = degrees / 180 * np.array(resolutions) / 2
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steps = steps.astype(int)
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return steps
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def convert_steps_to_degrees(steps: int | np.ndarray, models: str | list[str]) -> np.ndarray:
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def convert_steps_to_degrees(steps: int | np.ndarray, models: list[str]) -> np.ndarray:
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"""This function converts the step range to the degrees range for indicating motors rotation.
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It assumes a motor achieves a full rotation by going from -180 degree position to +180.
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The motor resolution (e.g. 4096) corresponds to the number of steps needed to achieve a full rotation.
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"""
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resolutions = [MODEL_RESOLUTION[model] for model in models]
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resolutions = np.array([MODEL_RESOLUTION[m] for m in models], dtype=float)
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steps = np.array(steps, dtype=float)
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degrees = steps * (360.0 / resolutions)
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return degrees
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def adjusted__to_homing_ticks(
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raw_motor_ticks: int | np.ndarray, encoder_offset: int, models: list[str]
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) -> np.ndarray:
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"""
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raw_motor_ticks : int in [0..4095] (the homed, shifted value)
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encoder_offset : int (the offset computed so that `home` becomes zero)
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Returns the homed servo ticks in [-2048 .. +2047].
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"""
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resolutions = np.array([MODEL_RESOLUTION[m] for m in models], dtype=float)
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raw_motor_ticks = np.asarray(raw_motor_ticks)
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shifted = (raw_motor_ticks + encoder_offset) % resolutions
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shifted = np.where(shifted > 2047, shifted - 4096, shifted)
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return shifted
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def adjusted_to_motor_ticks(
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adjusted_pos: int | np.ndarray, encoder_offset: int, models: list[str]
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) -> np.ndarray:
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"""
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Inverse of read_adjusted_position().
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adjusted_pos : int in [-2048 .. +2047] (the homed, shifted value)
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encoder_offset : int (the offset computed so that `home` becomes zero)
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Returns the raw servo ticks in [0..4095].
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"""
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resolutions = np.array([MODEL_RESOLUTION[m] for m in models], dtype=float)
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adjusted_pos = np.asarray(adjusted_pos)
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adjusted_pos = np.where(adjusted_pos < 0, adjusted_pos + 4096, adjusted_pos)
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raw_ticks = (adjusted_pos - encoder_offset) % resolutions
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return raw_ticks
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def convert_to_bytes(value, bytes, mock=False):
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if mock:
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return value
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@@ -415,7 +446,10 @@ class FeetechMotorsBus:
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drive_mode = self.calibration["drive_mode"][calib_idx]
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homing_offset = self.calibration["homing_offset"][calib_idx]
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_, model = self.motors[name]
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resolution = self.model_resolution[model]
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# Convert raw motor ticks to homed ticks, then convert the homed ticks to degrees
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values[i] = adjusted__to_homing_ticks(values[i], homing_offset, [model])
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values[i] = convert_steps_to_degrees(values[i], [model])
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# Update direction of rotation of the motor to match between leader and follower.
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# In fact, the motor of the leader for a given joint can be assembled in an
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@@ -423,14 +457,6 @@ class FeetechMotorsBus:
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if drive_mode:
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values[i] *= -1
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# Convert from range [-2**31, 2**31[ to
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# nominal range ]-resolution, resolution[ (e.g. ]-2048, 2048[)
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values[i] += homing_offset
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# Convert from range ]-resolution, resolution[ to
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# universal float32 centered degree range ]-180, 180[
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values[i] = values[i] / (resolution // 2) * HALF_TURN_DEGREE
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if (values[i] < LOWER_BOUND_DEGREE) or (values[i] > UPPER_BOUND_DEGREE):
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raise JointOutOfRangeError(
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f"Wrong motor position range detected for {name}. "
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@@ -474,15 +500,10 @@ class FeetechMotorsBus:
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drive_mode = self.calibration["drive_mode"][calib_idx]
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homing_offset = self.calibration["homing_offset"][calib_idx]
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_, model = self.motors[name]
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resolution = self.model_resolution[model]
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# Convert from nominal 0-centered degree range [-180, 180] to
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# 0-centered resolution range (e.g. [-2048, 2048] for resolution=4096)
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values[i] = values[i] / HALF_TURN_DEGREE * (resolution // 2)
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# Substract the homing offsets to come back to actual motor range of values
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# which can be arbitrary.
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values[i] -= homing_offset
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# Convert degrees to homed ticks, then convert the homed ticks to raw ticks
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values[i] = convert_degrees_to_steps(values[i], [model])
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values[i] = adjusted_to_motor_ticks(values[i], homing_offset, [model])
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# Remove drive mode, which is the rotation direction of the motor, to come back to
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# actual motor rotation direction which can be arbitrary.
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@@ -598,7 +619,8 @@ class FeetechMotorsBus:
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values = np.array(values)
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# TODO: Apply calibration and homign offset, output is homeing = 0 and direction.
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if self.calibration is not None:
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values = self.apply_calibration(values, motor_names)
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# log the number of seconds it took to read the data from the motors
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delta_ts_name = get_log_name("delta_timestamp_s", "read", data_name, motor_names)
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@@ -670,7 +692,8 @@ class FeetechMotorsBus:
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motor_ids.append(motor_idx)
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models.append(model)
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# TODO: add invesre of apply homing to go back to motor ticks
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if self.calibration is not None:
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values = self.revert_calibration(values, motor_names)
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values = values.tolist()
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@@ -1,14 +1,11 @@
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"""Logic to calibrate a robot arm built with feetech motors"""
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# TODO(rcadene, aliberts): move this logic into the robot code when refactoring
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import time
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import numpy as np
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from lerobot.common.robot_devices.motors.feetech import (
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CalibrationMode,
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TorqueMode,
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convert_degrees_to_steps,
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)
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from lerobot.common.robot_devices.motors.utils import MotorsBus
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@@ -16,469 +13,149 @@ URL_TEMPLATE = (
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"https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp"
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)
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# The following positions are provided in nominal degree range ]-180, +180[
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# For more info on these constants, see comments in the code where they get used.
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ZERO_POSITION_DEGREE = 0
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ROTATED_POSITION_DEGREE = 90
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def assert_drive_mode(drive_mode):
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# `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted.
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if not np.all(np.isin(drive_mode, [0, 1])):
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raise ValueError(f"`drive_mode` contains values other than 0 or 1: ({drive_mode})")
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def apply_drive_mode(position, drive_mode):
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assert_drive_mode(drive_mode)
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# Convert `drive_mode` from [0, 1] with 0 indicates original rotation direction and 1 inverted,
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# to [-1, 1] with 1 indicates original rotation direction and -1 inverted.
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signed_drive_mode = -(drive_mode * 2 - 1)
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position *= signed_drive_mode
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return position
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def move_until_block(arm, motor_name, positive_direction=True, while_move_hook=None):
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count = 0
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while True:
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present_pos = arm.read("Present_Position", motor_name)
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if positive_direction:
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# Move +100 steps every time. Lower the steps to lower the speed at which the arm moves.
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arm.write("Goal_Position", present_pos + 100, motor_name)
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else:
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arm.write("Goal_Position", present_pos - 100, motor_name)
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if while_move_hook is not None:
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while_move_hook()
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present_pos = arm.read("Present_Position", motor_name).item()
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present_speed = arm.read("Present_Speed", motor_name).item()
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present_current = arm.read("Present_Current", motor_name).item()
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# present_load = arm.read("Present_Load", motor_name).item()
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# present_voltage = arm.read("Present_Voltage", motor_name).item()
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# present_temperature = arm.read("Present_Temperature", motor_name).item()
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# print(f"{present_pos=}")
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# print(f"{present_speed=}")
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# print(f"{present_current=}")
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# print(f"{present_load=}")
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# print(f"{present_voltage=}")
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# print(f"{present_temperature=}")
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if present_speed == 0 and present_current > 40:
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count += 1
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if count > 100 or present_current > 300:
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return present_pos
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else:
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count = 0
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def move_to_calibrate(
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arm,
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motor_name,
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invert_drive_mode=False,
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positive_first=True,
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in_between_move_hook=None,
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while_move_hook=None,
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):
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initial_pos = arm.read("Present_Position", motor_name)
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if positive_first:
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p_present_pos = move_until_block(
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arm, motor_name, positive_direction=True, while_move_hook=while_move_hook
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)
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else:
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n_present_pos = move_until_block(
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arm, motor_name, positive_direction=False, while_move_hook=while_move_hook
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)
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if in_between_move_hook is not None:
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in_between_move_hook()
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if positive_first:
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n_present_pos = move_until_block(
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arm, motor_name, positive_direction=False, while_move_hook=while_move_hook
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)
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else:
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p_present_pos = move_until_block(
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arm, motor_name, positive_direction=True, while_move_hook=while_move_hook
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)
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zero_pos = (n_present_pos + p_present_pos) / 2
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calib_data = {
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"initial_pos": initial_pos,
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"homing_offset": zero_pos if invert_drive_mode else -zero_pos,
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"invert_drive_mode": invert_drive_mode,
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"drive_mode": -1 if invert_drive_mode else 0,
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"zero_pos": zero_pos,
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"start_pos": n_present_pos if invert_drive_mode else p_present_pos,
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"end_pos": p_present_pos if invert_drive_mode else n_present_pos,
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}
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return calib_data
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def apply_offset(calib, offset):
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calib["zero_pos"] += offset
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if calib["drive_mode"]:
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calib["homing_offset"] += offset
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else:
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calib["homing_offset"] -= offset
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return calib
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def run_arm_auto_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
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if robot_type == "so100":
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return run_arm_auto_calibration_so100(arm, robot_type, arm_name, arm_type)
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elif robot_type == "moss":
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return run_arm_auto_calibration_moss(arm, robot_type, arm_name, arm_type)
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else:
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raise ValueError(robot_type)
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def run_arm_auto_calibration_so100(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
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"""All the offsets and magic numbers are hand tuned, and are unique to SO-100 follower arms"""
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def disable_torque(arm: MotorsBus):
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if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
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raise ValueError("To run calibration, the torque must be disabled on all motors.")
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if not (robot_type == "so100" and arm_type == "follower"):
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raise NotImplementedError("Auto calibration only supports the follower of so100 arms for now.")
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print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
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def get_calibration_modes(arm: MotorsBus):
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"""Returns calibration modes for each motor (DEGREE for rotational, LINEAR for gripper)."""
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return [
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CalibrationMode.LINEAR.name if name == "gripper" else CalibrationMode.DEGREE.name
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for name in arm.motor_names
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]
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print("\nMove arm to initial position")
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print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="initial"))
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input("Press Enter to continue...")
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# Lower the acceleration of the motors (in [0,254])
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initial_acceleration = arm.read("Acceleration")
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arm.write("Lock", 0)
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arm.write("Acceleration", 10)
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time.sleep(1)
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def calibrate_homing_motor(motor_id, motor_bus):
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"""
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1) Reads servo ticks.
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2) Calculates the offset so that 'home_ticks' becomes 0.
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3) Returns the offset
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"""
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arm.write("Torque_Enable", TorqueMode.ENABLED.value)
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home_ticks = motor_bus.read("Present_Position")[motor_id - 1] # Read index starts at 0
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print(f'{arm.read("Present_Position", "elbow_flex")=}')
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# Calculate how many ticks to shift so that 'home_ticks' becomes 0
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raw_offset = -home_ticks # negative of home_ticks
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encoder_offset = raw_offset % 4096 # wrap to [0..4095]
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calib = {}
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# Convert to a signed range [-2048..2047]
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if encoder_offset > 2047:
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encoder_offset -= 4096
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init_wf_pos = arm.read("Present_Position", "wrist_flex")
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init_sl_pos = arm.read("Present_Position", "shoulder_lift")
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init_ef_pos = arm.read("Present_Position", "elbow_flex")
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arm.write("Goal_Position", init_wf_pos - 800, "wrist_flex")
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arm.write("Goal_Position", init_sl_pos + 150 + 1024, "shoulder_lift")
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arm.write("Goal_Position", init_ef_pos - 2048, "elbow_flex")
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time.sleep(2)
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print(f"Encoder offset: {encoder_offset}")
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print("Calibrate shoulder_pan")
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calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan")
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arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
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time.sleep(1)
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return encoder_offset
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print("Calibrate gripper")
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calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True)
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time.sleep(1)
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print("Calibrate wrist_flex")
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calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex")
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calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=80)
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def calibrate_linear_motor(motor_id, motor_bus):
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motor_names = motor_bus.motor_names
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motor_name = motor_names[motor_id - 1]
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def in_between_move_hook():
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nonlocal arm, calib
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time.sleep(2)
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ef_pos = arm.read("Present_Position", "elbow_flex")
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sl_pos = arm.read("Present_Position", "shoulder_lift")
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arm.write("Goal_Position", ef_pos + 1024, "elbow_flex")
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arm.write("Goal_Position", sl_pos - 1024, "shoulder_lift")
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time.sleep(2)
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input(f"Close the {motor_name}, then press Enter...")
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start_pos = motor_bus.read("Present_Position")[motor_id - 1] # Read index starts ar 0
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print(f" [Motor {motor_id}] start position recorded: {start_pos}")
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print("Calibrate elbow_flex")
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calib["elbow_flex"] = move_to_calibrate(
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arm, "elbow_flex", positive_first=False, in_between_move_hook=in_between_move_hook
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)
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calib["elbow_flex"] = apply_offset(calib["elbow_flex"], offset=80 - 1024)
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input("Open the {motor_name} fully, then press Enter...")
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end_pos = motor_bus.read("Present_Position")[motor_id - 1] # Read index starts ar 0
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print(f" [Motor {motor_id}] end position recorded: {end_pos}")
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arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 1024 + 512, "elbow_flex")
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time.sleep(1)
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return start_pos, end_pos
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def in_between_move_hook():
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nonlocal arm, calib
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||||
arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"], "elbow_flex")
|
||||
|
||||
print("Calibrate shoulder_lift")
|
||||
calib["shoulder_lift"] = move_to_calibrate(
|
||||
arm,
|
||||
"shoulder_lift",
|
||||
invert_drive_mode=True,
|
||||
positive_first=False,
|
||||
in_between_move_hook=in_between_move_hook,
|
||||
)
|
||||
# add an 30 steps as offset to align with body
|
||||
calib["shoulder_lift"] = apply_offset(calib["shoulder_lift"], offset=1024 - 50)
|
||||
def single_motor_calibration(arm: MotorsBus, motor_id: int):
|
||||
"""Calibrates a single motor and returns its calibration data for updating the calibration file."""
|
||||
|
||||
def while_move_hook():
|
||||
nonlocal arm, calib
|
||||
positions = {
|
||||
"shoulder_lift": round(calib["shoulder_lift"]["zero_pos"] - 1600),
|
||||
"elbow_flex": round(calib["elbow_flex"]["zero_pos"] + 1700),
|
||||
"wrist_flex": round(calib["wrist_flex"]["zero_pos"] + 800),
|
||||
"gripper": round(calib["gripper"]["end_pos"]),
|
||||
}
|
||||
arm.write("Goal_Position", list(positions.values()), list(positions.keys()))
|
||||
disable_torque(arm)
|
||||
print(f"\n--- Calibrating Motor {motor_id} ---")
|
||||
|
||||
arm.write("Goal_Position", round(calib["shoulder_lift"]["zero_pos"] - 1600), "shoulder_lift")
|
||||
time.sleep(2)
|
||||
arm.write("Goal_Position", round(calib["elbow_flex"]["zero_pos"] + 1700), "elbow_flex")
|
||||
time.sleep(2)
|
||||
arm.write("Goal_Position", round(calib["wrist_flex"]["zero_pos"] + 800), "wrist_flex")
|
||||
time.sleep(2)
|
||||
arm.write("Goal_Position", round(calib["gripper"]["end_pos"]), "gripper")
|
||||
time.sleep(2)
|
||||
start_pos = 0
|
||||
end_pos = 0
|
||||
encoder_offset = 0
|
||||
|
||||
print("Calibrate wrist_roll")
|
||||
calib["wrist_roll"] = move_to_calibrate(
|
||||
arm, "wrist_roll", invert_drive_mode=True, positive_first=False, while_move_hook=while_move_hook
|
||||
)
|
||||
if motor_id == 6:
|
||||
start_pos, end_pos = calibrate_linear_motor(motor_id, arm)
|
||||
else:
|
||||
input("Move the motor to middle (home) position, then press Enter...")
|
||||
encoder_offset = calibrate_homing_motor(motor_id, arm)
|
||||
|
||||
arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"], "wrist_roll")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["gripper"]["start_pos"], "gripper")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"], "wrist_flex")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 2048, "elbow_flex")
|
||||
arm.write("Goal_Position", calib["shoulder_lift"]["zero_pos"] - 2048, "shoulder_lift")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
|
||||
time.sleep(1)
|
||||
|
||||
calib_modes = []
|
||||
for name in arm.motor_names:
|
||||
if name == "gripper":
|
||||
calib_modes.append(CalibrationMode.LINEAR.name)
|
||||
else:
|
||||
calib_modes.append(CalibrationMode.DEGREE.name)
|
||||
print(f"Calibration for motor ID:{motor_id} done.")
|
||||
|
||||
# Create a calibration dictionary for the single motor
|
||||
calib_dict = {
|
||||
"homing_offset": [calib[name]["homing_offset"] for name in arm.motor_names],
|
||||
"drive_mode": [calib[name]["drive_mode"] for name in arm.motor_names],
|
||||
"start_pos": [calib[name]["start_pos"] for name in arm.motor_names],
|
||||
"end_pos": [calib[name]["end_pos"] for name in arm.motor_names],
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": arm.motor_names,
|
||||
"homing_offset": int(encoder_offset),
|
||||
"drive_mode": 0,
|
||||
"start_pos": int(start_pos),
|
||||
"end_pos": int(end_pos),
|
||||
"calib_mode": get_calibration_modes(arm)[motor_id - 1],
|
||||
"motor_name": arm.motor_names[motor_id - 1],
|
||||
}
|
||||
|
||||
# Re-enable original accerlation
|
||||
arm.write("Lock", 0)
|
||||
arm.write("Acceleration", initial_acceleration)
|
||||
time.sleep(1)
|
||||
|
||||
return calib_dict
|
||||
|
||||
|
||||
def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
|
||||
"""All the offsets and magic numbers are hand tuned, and are unique to SO-100 follower arms"""
|
||||
if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
|
||||
raise ValueError("To run calibration, the torque must be disabled on all motors.")
|
||||
def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
|
||||
"""
|
||||
Runs a full calibration process for all motors in a robotic arm.
|
||||
|
||||
if not (robot_type == "moss" and arm_type == "follower"):
|
||||
raise NotImplementedError("Auto calibration only supports the follower of moss arms for now.")
|
||||
This function calibrates each motor in the arm, determining encoder offsets and
|
||||
start/end positions for linear and rotational motors. The calibration data is then
|
||||
stored in a dictionary for later use.
|
||||
|
||||
print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
|
||||
**Calibration Process:**
|
||||
- The user is prompted to move the arm to its homing position before starting.
|
||||
- Motors with rotational motion are calibrated using a homing method.
|
||||
- Linear actuators (e.g., grippers) are calibrated separately.
|
||||
- Encoder offsets, start positions, and end positions are recorded.
|
||||
|
||||
print("\nMove arm to initial position")
|
||||
print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="initial"))
|
||||
input("Press Enter to continue...")
|
||||
|
||||
# Lower the acceleration of the motors (in [0,254])
|
||||
initial_acceleration = arm.read("Acceleration")
|
||||
arm.write("Lock", 0)
|
||||
arm.write("Acceleration", 10)
|
||||
time.sleep(1)
|
||||
|
||||
arm.write("Torque_Enable", TorqueMode.ENABLED.value)
|
||||
|
||||
sl_pos = arm.read("Present_Position", "shoulder_lift")
|
||||
arm.write("Goal_Position", sl_pos - 1024 - 450, "shoulder_lift")
|
||||
ef_pos = arm.read("Present_Position", "elbow_flex")
|
||||
arm.write("Goal_Position", ef_pos + 1024 + 450, "elbow_flex")
|
||||
time.sleep(2)
|
||||
|
||||
calib = {}
|
||||
|
||||
print("Calibrate shoulder_pan")
|
||||
calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan")
|
||||
arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
|
||||
time.sleep(1)
|
||||
|
||||
print("Calibrate gripper")
|
||||
calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True)
|
||||
time.sleep(1)
|
||||
|
||||
print("Calibrate wrist_flex")
|
||||
calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True)
|
||||
calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=-210 + 1024)
|
||||
|
||||
wr_pos = arm.read("Present_Position", "wrist_roll")
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", wr_pos - 1024, "wrist_roll")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 2048, "wrist_flex")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["gripper"]["end_pos"], "gripper")
|
||||
time.sleep(1)
|
||||
|
||||
print("Calibrate wrist_roll")
|
||||
calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True)
|
||||
calib["wrist_roll"] = apply_offset(calib["wrist_roll"], offset=790)
|
||||
|
||||
arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"] - 1024, "wrist_roll")
|
||||
arm.write("Goal_Position", calib["gripper"]["start_pos"], "gripper")
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"], "wrist_roll")
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 2048, "wrist_flex")
|
||||
|
||||
def in_between_move_elbow_flex_hook():
|
||||
nonlocal arm, calib
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"], "wrist_flex")
|
||||
|
||||
print("Calibrate elbow_flex")
|
||||
calib["elbow_flex"] = move_to_calibrate(
|
||||
arm,
|
||||
"elbow_flex",
|
||||
invert_drive_mode=True,
|
||||
in_between_move_hook=in_between_move_elbow_flex_hook,
|
||||
)
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
|
||||
|
||||
def in_between_move_shoulder_lift_hook():
|
||||
nonlocal arm, calib
|
||||
sl = arm.read("Present_Position", "shoulder_lift")
|
||||
arm.write("Goal_Position", sl - 1500, "shoulder_lift")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 1536, "elbow_flex")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["start_pos"], "wrist_flex")
|
||||
time.sleep(1)
|
||||
|
||||
print("Calibrate shoulder_lift")
|
||||
calib["shoulder_lift"] = move_to_calibrate(
|
||||
arm, "shoulder_lift", in_between_move_hook=in_between_move_shoulder_lift_hook
|
||||
)
|
||||
calib["shoulder_lift"] = apply_offset(calib["shoulder_lift"], offset=-1024)
|
||||
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
|
||||
time.sleep(1)
|
||||
arm.write("Goal_Position", calib["shoulder_lift"]["zero_pos"] + 2048, "shoulder_lift")
|
||||
arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] - 1024 - 400, "elbow_flex")
|
||||
time.sleep(2)
|
||||
|
||||
calib_modes = []
|
||||
for name in arm.motor_names:
|
||||
if name == "gripper":
|
||||
calib_modes.append(CalibrationMode.LINEAR.name)
|
||||
else:
|
||||
calib_modes.append(CalibrationMode.DEGREE.name)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": [calib[name]["homing_offset"] for name in arm.motor_names],
|
||||
"drive_mode": [calib[name]["drive_mode"] for name in arm.motor_names],
|
||||
"start_pos": [calib[name]["start_pos"] for name in arm.motor_names],
|
||||
"end_pos": [calib[name]["end_pos"] for name in arm.motor_names],
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": arm.motor_names,
|
||||
}
|
||||
|
||||
# Re-enable original accerlation
|
||||
arm.write("Lock", 0)
|
||||
arm.write("Acceleration", initial_acceleration)
|
||||
time.sleep(1)
|
||||
|
||||
return calib_dict
|
||||
|
||||
|
||||
def run_arm_manual_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
|
||||
"""This function ensures that a neural network trained on data collected on a given robot
|
||||
can work on another robot. For instance before calibration, setting a same goal position
|
||||
for each motor of two different robots will get two very different positions. But after calibration,
|
||||
the two robots will move to the same position.To this end, this function computes the homing offset
|
||||
and the drive mode for each motor of a given robot.
|
||||
|
||||
Homing offset is used to shift the motor position to a ]-2048, +2048[ nominal range (when the motor uses 2048 steps
|
||||
to complete a half a turn). This range is set around an arbitrary "zero position" corresponding to all motor positions
|
||||
being 0. During the calibration process, you will need to manually move the robot to this "zero position".
|
||||
|
||||
Drive mode is used to invert the rotation direction of the motor. This is useful when some motors have been assembled
|
||||
in the opposite orientation for some robots. During the calibration process, you will need to manually move the robot
|
||||
to the "rotated position".
|
||||
|
||||
After calibration, the homing offsets and drive modes are stored in a cache.
|
||||
|
||||
Example of usage:
|
||||
**Example Usage:**
|
||||
```python
|
||||
run_arm_calibration(arm, "so100", "left", "follower")
|
||||
run_full_arm_calibration(arm, "so100", "left", "follower")
|
||||
```
|
||||
"""
|
||||
if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
|
||||
raise ValueError("To run calibration, the torque must be disabled on all motors.")
|
||||
disable_torque(arm)
|
||||
|
||||
print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
|
||||
|
||||
print("\nMove arm to zero position")
|
||||
print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero"))
|
||||
print("\nMove arm to homing position")
|
||||
print(
|
||||
"See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")
|
||||
) # TODO: replace with new instruction homing pos (all motors in center)
|
||||
input("Press Enter to continue...")
|
||||
|
||||
# We arbitrarily chose our zero target position to be a straight horizontal position with gripper upwards and closed.
|
||||
# It is easy to identify and all motors are in a "quarter turn" position. Once calibration is done, this position will
|
||||
# correspond to every motor angle being 0. If you set all 0 as Goal Position, the arm will move in this position.
|
||||
zero_target_pos = convert_degrees_to_steps(ZERO_POSITION_DEGREE, arm.motor_models)
|
||||
start_positions = np.zeros(len(arm.motor_indices))
|
||||
end_positions = np.zeros(len(arm.motor_indices))
|
||||
encoder_offsets = np.zeros(len(arm.motor_indices))
|
||||
|
||||
# Compute homing offset so that `present_position + homing_offset ~= target_position`.
|
||||
zero_pos = arm.read("Present_Position")
|
||||
homing_offset = zero_target_pos - zero_pos
|
||||
|
||||
# The rotated target position corresponds to a rotation of a quarter turn from the zero position.
|
||||
# This allows to identify the rotation direction of each motor.
|
||||
# For instance, if the motor rotates 90 degree, and its value is -90 after applying the homing offset, then we know its rotation direction
|
||||
# is inverted. However, for the calibration being successful, we need everyone to follow the same target position.
|
||||
# Sometimes, there is only one possible rotation direction. For instance, if the gripper is closed, there is only one direction which
|
||||
# corresponds to opening the gripper. When the rotation direction is ambiguous, we arbitrarely rotate clockwise from the point of view
|
||||
# of the previous motor in the kinetic chain.
|
||||
print("\nMove arm to rotated target position")
|
||||
print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rotated"))
|
||||
input("Press Enter to continue...")
|
||||
|
||||
rotated_target_pos = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, arm.motor_models)
|
||||
|
||||
# Find drive mode by rotating each motor by a quarter of a turn.
|
||||
# Drive mode indicates if the motor rotation direction should be inverted (=1) or not (=0).
|
||||
rotated_pos = arm.read("Present_Position")
|
||||
drive_mode = (rotated_pos < zero_pos).astype(np.int32)
|
||||
|
||||
# Re-compute homing offset to take into account drive mode
|
||||
rotated_drived_pos = apply_drive_mode(rotated_pos, drive_mode)
|
||||
homing_offset = rotated_target_pos - rotated_drived_pos
|
||||
|
||||
print("\nMove arm to rest position")
|
||||
print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rest"))
|
||||
input("Press Enter to continue...")
|
||||
print()
|
||||
|
||||
# Joints with rotational motions are expressed in degrees in nominal range of [-180, 180]
|
||||
calib_modes = []
|
||||
for name in arm.motor_names:
|
||||
if name == "gripper":
|
||||
calib_modes.append(CalibrationMode.LINEAR.name)
|
||||
# Call single motor calibration for each motor id
|
||||
for i, id in enumerate(arm.motor_indices):
|
||||
if id == 6:
|
||||
start_positions[i], end_positions[i] = calibrate_linear_motor(id, arm)
|
||||
encoder_offsets[i] = 0
|
||||
else:
|
||||
calib_modes.append(CalibrationMode.DEGREE.name)
|
||||
encoder_offsets[i] = calibrate_homing_motor(id, arm)
|
||||
start_positions[i] = 0
|
||||
end_positions[i] = 0
|
||||
|
||||
print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!")
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset.tolist(),
|
||||
"drive_mode": drive_mode.tolist(),
|
||||
"start_pos": zero_pos.tolist(),
|
||||
"end_pos": rotated_pos.tolist(),
|
||||
"calib_mode": calib_modes,
|
||||
"homing_offset": encoder_offsets.astype(int).tolist(),
|
||||
"drive_mode": np.zeros(len(arm.motor_indices), dtype=int).tolist(),
|
||||
"start_pos": start_positions.astype(int).tolist(),
|
||||
"end_pos": end_positions.astype(int).tolist(),
|
||||
"calib_mode": get_calibration_modes(arm),
|
||||
"motor_names": arm.motor_names,
|
||||
}
|
||||
return calib_dict
|
||||
|
||||
|
||||
def run_full_auto_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
|
||||
"""TODO: Add this method later as extra
|
||||
Example of usage:
|
||||
```python
|
||||
run_full_auto_arm_calibration(arm, "so100", "left", "follower")
|
||||
```
|
||||
"""
|
||||
print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
|
||||
|
||||
@@ -374,10 +374,10 @@ class ManipulatorRobot:
|
||||
|
||||
elif self.robot_type in ["so100", "moss"]:
|
||||
from lerobot.common.robot_devices.robots.feetech_calibration import (
|
||||
run_arm_manual_calibration,
|
||||
run_full_arm_calibration,
|
||||
)
|
||||
|
||||
calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
|
||||
calibration = run_full_arm_calibration(arm, self.robot_type, name, arm_type)
|
||||
|
||||
print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
|
||||
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
|
||||
@@ -114,15 +114,20 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
|
||||
# the motors. Note: this configuration is not in the official STS3215 Memory Table
|
||||
motor_bus.write("Lock", 0)
|
||||
motor_bus.write("Maximum_Acceleration", 254)
|
||||
|
||||
motor_bus.write("Goal_Position", 2048)
|
||||
time.sleep(4)
|
||||
print("Present Position", motor_bus.read("Present_Position"))
|
||||
|
||||
motor_bus.write("Max_Angle_Limit", 4095) # default 4095
|
||||
motor_bus.write("Min_Angle_Limit", 0) # default 0
|
||||
motor_bus.write("Offset", 0)
|
||||
time.sleep(4)
|
||||
motor_bus.write("Mode", 0)
|
||||
motor_bus.write("Goal_Position", 0)
|
||||
motor_bus.write("Torque_Enable", 0)
|
||||
motor_bus.write("Lock", 1)
|
||||
print("Offset", motor_bus.read("Offset"))
|
||||
|
||||
# TODO(pepijn):
|
||||
# single_calibration = single_motor_calibration(motor_bus, motor_idx_des)
|
||||
|
||||
# TODO(pepijn): store single_calibration
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error occurred during motor configuration: {e}")
|
||||
|
||||
|
||||
Reference in New Issue
Block a user