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Move common Feetech/Dxl code into MotorsBus base class

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This commit is contained in:
Simon Alibert
2025-03-14 22:00:09 +01:00
parent 1f7ddc1d76
commit f0505e81cc
4 changed files with 1268 additions and 554 deletions
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288
lerobot/common/motors/feetech/feetech.py
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@@ -12,16 +12,18 @@
# See the License for the specific language governing permissions and
# limitations under the License.
import enum
import time
import traceback
from copy import deepcopy
import numpy as np
import tqdm
import scservo_sdk as scs
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.utils.utils import capture_timestamp_utc
from ..motors_bus import (
CalibrationMode,
JointOutOfRangeError,
MotorsBus,
assert_same_address,
get_group_sync_key,
)
PROTOCOL_VERSION = 0
BAUDRATE = 1_000_000
@@ -215,72 +217,7 @@ def convert_to_bytes(value, bytes, mock=False):
return data
def get_group_sync_key(data_name, motor_names):
group_key = f"{data_name}_" + "_".join(motor_names)
return group_key
def get_result_name(fn_name, data_name, motor_names):
group_key = get_group_sync_key(data_name, motor_names)
rslt_name = f"{fn_name}_{group_key}"
return rslt_name
def get_queue_name(fn_name, data_name, motor_names):
group_key = get_group_sync_key(data_name, motor_names)
queue_name = f"{fn_name}_{group_key}"
return queue_name
def get_log_name(var_name, fn_name, data_name, motor_names):
group_key = get_group_sync_key(data_name, motor_names)
log_name = f"{var_name}_{fn_name}_{group_key}"
return log_name
def assert_same_address(model_ctrl_table, motor_models, data_name):
all_addr = []
all_bytes = []
for model in motor_models:
addr, bytes = model_ctrl_table[model][data_name]
all_addr.append(addr)
all_bytes.append(bytes)
if len(set(all_addr)) != 1:
raise NotImplementedError(
f"At least two motor models use a different address for `data_name`='{data_name}' ({list(zip(motor_models, all_addr, strict=False))}). Contact a LeRobot maintainer."
)
if len(set(all_bytes)) != 1:
raise NotImplementedError(
f"At least two motor models use a different bytes representation for `data_name`='{data_name}' ({list(zip(motor_models, all_bytes, strict=False))}). Contact a LeRobot maintainer."
)
class TorqueMode(enum.Enum):
ENABLED = 1
DISABLED = 0
class DriveMode(enum.Enum):
NON_INVERTED = 0
INVERTED = 1
class CalibrationMode(enum.Enum):
# Joints with rotational motions are expressed in degrees in nominal range of [-180, 180]
DEGREE = 0
# Joints with linear motions (like gripper of Aloha) are expressed in nominal range of [0, 100]
LINEAR = 1
class JointOutOfRangeError(Exception):
def __init__(self, message="Joint is out of range"):
self.message = message
super().__init__(self.message)
class FeetechMotorsBus:
class FeetechMotorsBus(MotorsBus):
"""
The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on
the python feetech sdk to communicate with the motors. For more info, see the [feetech SDK Documentation](https://emanual.robotis.com/docs/en/software/feetech/feetech_sdk/sample_code/python_read_write_protocol_2_0/#python-read-write-protocol-20).
@@ -319,122 +256,22 @@ class FeetechMotorsBus:
```
"""
model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)
model_resolution = deepcopy(MODEL_RESOLUTION)
def __init__(
self,
port: str,
motors: dict[str, tuple[int, str]],
mock: bool = False,
):
self.port = port
self.motors = motors
self.mock = mock
self.model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)
self.model_resolution = deepcopy(MODEL_RESOLUTION)
self.port_handler = None
self.packet_handler = None
self.calibration = None
self.is_connected = False
self.group_readers = {}
self.group_writers = {}
self.logs = {}
def connect(self):
if self.is_connected:
raise DeviceAlreadyConnectedError(
f"FeetechMotorsBus({self.port}) is already connected. Do not call `motors_bus.connect()` twice."
)
if self.mock:
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
super().__init__(port, motors)
def _set_handlers(self):
self.port_handler = scs.PortHandler(self.port)
self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION)
try:
if not self.port_handler.openPort():
raise OSError(f"Failed to open port '{self.port}'.")
except Exception:
traceback.print_exc()
print(
"\nTry running `python lerobot/scripts/find_motors_bus_port.py` to make sure you are using the correct port.\n"
)
raise
# Allow to read and write
self.is_connected = True
self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS)
def reconnect(self):
if self.mock:
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
self.port_handler = scs.PortHandler(self.port)
self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION)
if not self.port_handler.openPort():
raise OSError(f"Failed to open port '{self.port}'.")
self.is_connected = True
def are_motors_configured(self):
# Only check the motor indices and not baudrate, since if the motor baudrates are incorrect,
# a ConnectionError will be raised anyway.
try:
return (self.motor_indices == self.read("ID")).all()
except ConnectionError as e:
print(e)
return False
def find_motor_indices(self, possible_ids=None, num_retry=2):
if possible_ids is None:
possible_ids = range(MAX_ID_RANGE)
indices = []
for idx in tqdm.tqdm(possible_ids):
try:
present_idx = self.read_with_motor_ids(self.motor_models, [idx], "ID", num_retry=num_retry)[0]
except ConnectionError:
continue
if idx != present_idx:
# sanity check
raise OSError(
"Motor index used to communicate through the bus is not the same as the one present in the motor memory. The motor memory might be damaged."
)
indices.append(idx)
return indices
def set_bus_baudrate(self, baudrate):
present_bus_baudrate = self.port_handler.getBaudRate()
if present_bus_baudrate != baudrate:
print(f"Setting bus baud rate to {baudrate}. Previously {present_bus_baudrate}.")
self.port_handler.setBaudRate(baudrate)
if self.port_handler.getBaudRate() != baudrate:
raise OSError("Failed to write bus baud rate.")
@property
def motor_names(self) -> list[str]:
return list(self.motors.keys())
@property
def motor_models(self) -> list[str]:
return [model for _, model in self.motors.values()]
@property
def motor_indices(self) -> list[int]:
return [idx for idx, _ in self.motors.values()]
def set_calibration(self, calibration: dict[str, list]):
self.calibration = calibration
def _set_timeout(self, timeout: int = TIMEOUT_MS):
self.port_handler.setPacketTimeoutMillis(timeout)
def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
if motor_names is None:
@@ -502,11 +339,6 @@ class FeetechMotorsBus:
return values
def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
if self.mock:
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
return_list = True
if not isinstance(motor_ids, list):
return_list = False
@@ -539,25 +371,7 @@ class FeetechMotorsBus:
else:
return values[0]
def read(self, data_name, motor_names: str | list[str] | None = None):
if self.mock:
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
if not self.is_connected:
raise DeviceNotConnectedError(
f"FeetechMotorsBus({self.port}) is not connected. You need to run `motors_bus.connect()`."
)
start_time = time.perf_counter()
if motor_names is None:
motor_names = self.motor_names
if isinstance(motor_names, str):
motor_names = [motor_names]
def _read(self, data_name, motor_names: str | list[str] | None = None):
motor_ids = []
models = []
for name in motor_names:
@@ -602,22 +416,9 @@ class FeetechMotorsBus:
if data_name in CALIBRATION_REQUIRED and self.calibration is not None:
values = self.apply_calibration(values, motor_names)
# log the number of seconds it took to read the data from the motors
delta_ts_name = get_log_name("delta_timestamp_s", "read", data_name, motor_names)
self.logs[delta_ts_name] = time.perf_counter() - start_time
# log the utc time at which the data was received
ts_utc_name = get_log_name("timestamp_utc", "read", data_name, motor_names)
self.logs[ts_utc_name] = capture_timestamp_utc()
return values
def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
if self.mock:
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
if not isinstance(motor_ids, list):
motor_ids = [motor_ids]
if not isinstance(values, list):
@@ -641,30 +442,7 @@ class FeetechMotorsBus:
f"{self.packet_handler.getTxRxResult(comm)}"
)
def write(self, data_name, values: int | float | np.ndarray, motor_names: str | list[str] | None = None):
if not self.is_connected:
raise DeviceNotConnectedError(
f"FeetechMotorsBus({self.port}) is not connected. You need to run `motors_bus.connect()`."
)
start_time = time.perf_counter()
if self.mock:
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
if motor_names is None:
motor_names = self.motor_names
if isinstance(motor_names, str):
motor_names = [motor_names]
if isinstance(values, (int, float, np.integer)):
values = [int(values)] * len(motor_names)
values = np.array(values)
def _write(self, data_name: str, values: list[int], motor_names: list[str]) -> None:
motor_ids = []
models = []
for name in motor_names:
@@ -675,8 +453,6 @@ class FeetechMotorsBus:
if data_name in CALIBRATION_REQUIRED and self.calibration is not None:
values = self.revert_calibration(values, motor_names)
values = values.tolist()
assert_same_address(self.model_ctrl_table, models, data_name)
addr, bytes = self.model_ctrl_table[model][data_name]
group_key = get_group_sync_key(data_name, motor_names)
@@ -700,31 +476,3 @@ class FeetechMotorsBus:
f"Write failed due to communication error on port {self.port} for group_key {group_key}: "
f"{self.packet_handler.getTxRxResult(comm)}"
)
# log the number of seconds it took to write the data to the motors
delta_ts_name = get_log_name("delta_timestamp_s", "write", data_name, motor_names)
self.logs[delta_ts_name] = time.perf_counter() - start_time
# TODO(rcadene): should we log the time before sending the write command?
# log the utc time when the write has been completed
ts_utc_name = get_log_name("timestamp_utc", "write", data_name, motor_names)
self.logs[ts_utc_name] = capture_timestamp_utc()
def disconnect(self):
if not self.is_connected:
raise DeviceNotConnectedError(
f"FeetechMotorsBus({self.port}) is not connected. Try running `motors_bus.connect()` first."
)
if self.port_handler is not None:
self.port_handler.closePort()
self.port_handler = None
self.packet_handler = None
self.group_readers = {}
self.group_writers = {}
self.is_connected = False
def __del__(self):
if getattr(self, "is_connected", False):
self.disconnect()