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.gitignore
vendored
1
.gitignore
vendored
@@ -125,7 +125,6 @@ celerybeat.pid
|
||||
# Environments
|
||||
.env
|
||||
.venv
|
||||
env/
|
||||
venv/
|
||||
env.bak/
|
||||
venv.bak/
|
||||
|
||||
BIN
examples.zip
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BIN
examples.zip
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1
examples/hopejr/BOM
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examples/hopejr/BOM
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@@ -0,0 +1 @@
|
||||
Bearings - https://amzn.eu/d/8Xz7m4C - https://amzn.eu/d/1xOo8re - https://amzn.eu/d/9LXO205 (17x) - https://amzn.eu/d/eKGj9gf (2x) Bike Components - https://amzn.eu/d/cNiQi0O (1x) Accessories - https://amzn.eu/d/ipjCq1R (1x) - https://amzn.eu/d/0ZMzC3G (1x) Screws - https://amzn.eu/d/dzNhSkJ - https://amzn.eu/d/41AhVIU - https://amzn.eu/d/8G91txy - https://amzn.eu/d/9xu0pLa - https://amzn.eu/d/c5xaClV - https://amzn.eu/d/7kudpAo - https://amzn.eu/d/2BEgJFc - https://amzn.eu/d/4q9RNby - https://amzn.eu/d/4RE2lPV - https://amzn.eu/d/63YU0l1 Inserts - https://amzn.eu/d/7fjOtOC
|
||||
624
examples/hopejr/README.md
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624
examples/hopejr/README.md
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@@ -0,0 +1,624 @@
|
||||
# Using the [SO-100](https://github.com/TheRobotStudio/SO-ARM100) with LeRobot
|
||||
|
||||
## Table of Contents
|
||||
|
||||
- [A. Source the parts](#a-source-the-parts)
|
||||
- [B. Install LeRobot](#b-install-lerobot)
|
||||
- [C. Configure the Motors](#c-configure-the-motors)
|
||||
- [D. Step-by-Step Assembly Instructions](#d-step-by-step-assembly-instructions)
|
||||
- [E. Calibrate](#e-calibrate)
|
||||
- [F. Teleoperate](#f-teleoperate)
|
||||
- [G. Record a dataset](#g-record-a-dataset)
|
||||
- [H. Visualize a dataset](#h-visualize-a-dataset)
|
||||
- [I. Replay an episode](#i-replay-an-episode)
|
||||
- [J. Train a policy](#j-train-a-policy)
|
||||
- [K. Evaluate your policy](#k-evaluate-your-policy)
|
||||
- [L. More Information](#l-more-information)
|
||||
|
||||
## A. Source the parts
|
||||
|
||||
Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts,
|
||||
and advice if it's your first time printing or if you don't own a 3D printer.
|
||||
|
||||
Before assembling, you will first need to configure your motors. To this end, we provide a nice script, so let's first install LeRobot. After configuration, we will also guide you through assembly.
|
||||
|
||||
## B. Install LeRobot
|
||||
|
||||
> [!TIP]
|
||||
> We use the Command Prompt (cmd) quite a lot. If you are not comfortable using the cmd or want to brush up using the command line you can have a look here: [Command line crash course](https://developer.mozilla.org/en-US/docs/Learn_web_development/Getting_started/Environment_setup/Command_line)
|
||||
|
||||
On your computer:
|
||||
|
||||
#### 1. [Install Miniconda](https://docs.anaconda.com/miniconda/install/#quick-command-line-install):
|
||||
|
||||
#### 2. Restart shell
|
||||
Copy paste in your shell: `source ~/.bashrc` or for Mac: `source ~/.bash_profile` or `source ~/.zshrc` if you're using zshell
|
||||
|
||||
#### 3. Create and activate a fresh conda environment for lerobot
|
||||
|
||||
<details>
|
||||
<summary><strong>Video install instructions</strong></summary>
|
||||
|
||||
<video src="https://github.com/user-attachments/assets/17172d3b-3b64-4b80-9cf1-b2b7c5cbd236"></video>
|
||||
|
||||
</details>
|
||||
|
||||
```bash
|
||||
conda create -y -n lerobot python=3.10
|
||||
```
|
||||
|
||||
Then activate your conda environment (do this each time you open a shell to use lerobot!):
|
||||
```bash
|
||||
conda activate lerobot
|
||||
```
|
||||
|
||||
#### 4. Clone LeRobot:
|
||||
```bash
|
||||
git clone https://github.com/huggingface/lerobot.git ~/lerobot
|
||||
```
|
||||
|
||||
#### 5. Install ffmpeg in your environment:
|
||||
When using `miniconda`, install `ffmpeg` in your environment:
|
||||
```bash
|
||||
conda install ffmpeg -c conda-forge
|
||||
```
|
||||
|
||||
#### 6. Install LeRobot with dependencies for the feetech motors:
|
||||
```bash
|
||||
cd ~/lerobot && pip install -e ".[feetech]"
|
||||
```
|
||||
|
||||
Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms :robot:.
|
||||
Every time you now want to use LeRobot you can go to the `~/lerobot` folder where we installed LeRobot and run one of the commands.
|
||||
|
||||
## C. Configure the motors
|
||||
|
||||
> [!NOTE]
|
||||
> Throughout this tutorial you will find videos on how to do the steps, the full video tutorial can be found here: [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I).
|
||||
|
||||
### 1. Find the USB ports associated to each arm
|
||||
|
||||
Designate one bus servo adapter and 6 motors for your leader arm, and similarly the other bus servo adapter and 6 motors for the follower arm. It's convenient to label them and write on each motor if it's for the follower `F` or for the leader `L` and it's ID from 1 to 6 (F1...F6 and L1...L6).
|
||||
|
||||
#### a. Run the script to find port
|
||||
|
||||
<details>
|
||||
<summary><strong>Video finding port</strong></summary>
|
||||
<video src="https://github.com/user-attachments/assets/4a21a14d-2046-4805-93c4-ee97a30ba33f"></video>
|
||||
<video src="https://github.com/user-attachments/assets/1cc3aecf-c16d-4ff9-aec7-8c175afbbce2"></video>
|
||||
</details>
|
||||
|
||||
To find the port for each bus servo adapter, run the utility script:
|
||||
```bash
|
||||
python lerobot/scripts/find_motors_bus_port.py
|
||||
```
|
||||
|
||||
#### b. Example outputs
|
||||
|
||||
Example output when identifying the leader arm's port (e.g., `/dev/tty.usbmodem575E0031751` on Mac, or possibly `/dev/ttyACM0` on Linux):
|
||||
```
|
||||
Finding all available ports for the MotorBus.
|
||||
['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
|
||||
Remove the usb cable from your MotorsBus and press Enter when done.
|
||||
|
||||
[...Disconnect leader arm and press Enter...]
|
||||
|
||||
The port of this MotorsBus is /dev/tty.usbmodem575E0031751
|
||||
Reconnect the usb cable.
|
||||
```
|
||||
Example output when identifying the follower arm's port (e.g., `/dev/tty.usbmodem575E0032081`, or possibly `/dev/ttyACM1` on Linux):
|
||||
```
|
||||
Finding all available ports for the MotorBus.
|
||||
['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
|
||||
Remove the usb cable from your MotorsBus and press Enter when done.
|
||||
|
||||
[...Disconnect follower arm and press Enter...]
|
||||
|
||||
The port of this MotorsBus is /dev/tty.usbmodem575E0032081
|
||||
Reconnect the usb cable.
|
||||
```
|
||||
|
||||
#### c. Troubleshooting
|
||||
On Linux, you might need to give access to the USB ports by running:
|
||||
```bash
|
||||
sudo chmod 666 /dev/ttyACM0
|
||||
sudo chmod 666 /dev/ttyACM1
|
||||
```
|
||||
|
||||
#### d. Update config file
|
||||
|
||||
IMPORTANTLY: Now that you have your ports, update the **port** default values of [`SO100RobotConfig`](../lerobot/common/robot_devices/robots/configs.py). You will find something like:
|
||||
```python
|
||||
@RobotConfig.register_subclass("so100")
|
||||
@dataclass
|
||||
class So100RobotConfig(ManipulatorRobotConfig):
|
||||
calibration_dir: str = ".cache/calibration/so100"
|
||||
# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
|
||||
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
|
||||
# the number of motors in your follower arms.
|
||||
max_relative_target: int | None = None
|
||||
|
||||
leader_arms: dict[str, MotorsBusConfig] = field(
|
||||
default_factory=lambda: {
|
||||
"main": FeetechMotorsBusConfig(
|
||||
port="/dev/tty.usbmodem58760431091", <-- UPDATE HERE
|
||||
motors={
|
||||
# name: (index, model)
|
||||
"shoulder_pan": [1, "sts3215"],
|
||||
"shoulder_lift": [2, "sts3215"],
|
||||
"elbow_flex": [3, "sts3215"],
|
||||
"wrist_flex": [4, "sts3215"],
|
||||
"wrist_roll": [5, "sts3215"],
|
||||
"gripper": [6, "sts3215"],
|
||||
},
|
||||
),
|
||||
}
|
||||
)
|
||||
|
||||
follower_arms: dict[str, MotorsBusConfig] = field(
|
||||
default_factory=lambda: {
|
||||
"main": FeetechMotorsBusConfig(
|
||||
port="/dev/tty.usbmodem585A0076891", <-- UPDATE HERE
|
||||
motors={
|
||||
# name: (index, model)
|
||||
"shoulder_pan": [1, "sts3215"],
|
||||
"shoulder_lift": [2, "sts3215"],
|
||||
"elbow_flex": [3, "sts3215"],
|
||||
"wrist_flex": [4, "sts3215"],
|
||||
"wrist_roll": [5, "sts3215"],
|
||||
"gripper": [6, "sts3215"],
|
||||
},
|
||||
),
|
||||
}
|
||||
)
|
||||
```
|
||||
|
||||
### 2. Assembling the Base
|
||||
Let's begin with assembling the follower arm base
|
||||
|
||||
#### a. Set IDs for all 12 motors
|
||||
|
||||
<details>
|
||||
<summary><strong>Video configuring motor</strong></summary>
|
||||
<video src="https://github.com/user-attachments/assets/ef9b3317-2e11-4858-b9d3-f0a02fb48ecf"></video>
|
||||
<video src="https://github.com/user-attachments/assets/f36b5ed5-c803-4ebe-8947-b39278776a0d"></video>
|
||||
</details>
|
||||
|
||||
Plug your first motor F1 and run this script to set its ID to 1. It will also set its present position to 2048, so expect your motor to rotate. Replace the text after --port to the corresponding follower control board port and run this command in cmd:
|
||||
```bash
|
||||
python lerobot/scripts/configure_motor.py \
|
||||
--port /dev/tty.usbmodem58760432961 \
|
||||
--brand feetech \
|
||||
--model sts3215 \
|
||||
--baudrate 1000000 \
|
||||
--ID 1
|
||||
```
|
||||
|
||||
> [!NOTE]
|
||||
> These motors are currently limited. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees).
|
||||
|
||||
Then unplug your motor and plug the second motor and set its ID to 2.
|
||||
```bash
|
||||
python lerobot/scripts/configure_motor.py \
|
||||
--port /dev/tty.usbmodem58760432961 \
|
||||
--brand feetech \
|
||||
--model sts3215 \
|
||||
--baudrate 1000000 \
|
||||
--ID 2
|
||||
```
|
||||
|
||||
Redo the process for all your motors until ID 6. Do the same for the 6 motors of the leader arm.
|
||||
|
||||
|
||||
#### b. Remove the gears of the 6 leader motors
|
||||
|
||||
<details>
|
||||
<summary><strong>Video removing gears</strong></summary>
|
||||
|
||||
<video src="https://github.com/user-attachments/assets/0c95b88c-5b85-413d-ba19-aee2f864f2a7"></video>
|
||||
|
||||
</details>
|
||||
|
||||
|
||||
Follow the video for removing gears. You need to remove the gear for the motors of the leader arm. As a result, you will only use the position encoding of the motor and reduce friction to more easily operate the leader arm.
|
||||
|
||||
## D. Step-by-Step Assembly Instructions
|
||||
|
||||
**Step 1: Clean Parts**
|
||||
- Remove all support material from the 3D-printed parts.
|
||||
---
|
||||
|
||||
### Additional Guidance
|
||||
|
||||
<details>
|
||||
<summary><strong>Video assembling arms</strong></summary>
|
||||
|
||||
<video src="https://github.com/user-attachments/assets/488a39de-0189-4461-9de3-05b015f90cca"></video>
|
||||
|
||||
</details>
|
||||
|
||||
**Note:**
|
||||
This video provides visual guidance for assembling the arms, but it doesn't specify when or how to do the wiring. Inserting the cables beforehand is much easier than doing it afterward. The first arm may take a bit more than 1 hour to assemble, but once you get used to it, you can assemble the second arm in under 1 hour.
|
||||
|
||||
---
|
||||
|
||||
### First Motor
|
||||
|
||||
**Step 2: Insert Wires**
|
||||
- Insert two wires into the first motor.
|
||||
|
||||
<img src="../media/tutorial/img1.jpg" style="height:300px;">
|
||||
|
||||
**Step 3: Install in Base**
|
||||
- Place the first motor into the base.
|
||||
|
||||
<img src="../media/tutorial/img2.jpg" style="height:300px;">
|
||||
|
||||
**Step 4: Secure Motor**
|
||||
- Fasten the motor with 4 screws. Two from the bottom and two from top.
|
||||
|
||||
**Step 5: Attach Motor Holder**
|
||||
- Slide over the first motor holder and fasten it using two screws (one on each side).
|
||||
|
||||
<img src="../media/tutorial/img4.jpg" style="height:300px;">
|
||||
|
||||
**Step 6: Attach Motor Horns**
|
||||
- Install both motor horns, securing the top horn with a screw. Try not to move the motor position when attaching the motor horn, especially for the leader arms, where we removed the gears.
|
||||
|
||||
<img src="../media/tutorial/img5.jpg" style="height:300px;">
|
||||
<details>
|
||||
<summary><strong>Video adding motor horn</strong></summary>
|
||||
<video src="https://github.com/user-attachments/assets/ef3391a4-ad05-4100-b2bd-1699bf86c969"></video>
|
||||
</details>
|
||||
|
||||
**Step 7: Attach Shoulder Part**
|
||||
- Route one wire to the back of the robot and the other to the left or in photo towards you (see photo).
|
||||
- Attach the shoulder part.
|
||||
|
||||
<img src="../media/tutorial/img6.jpg" style="height:300px;">
|
||||
|
||||
**Step 8: Secure Shoulder**
|
||||
- Tighten the shoulder part with 4 screws on top and 4 on the bottom
|
||||
*(access bottom holes by turning the shoulder).*
|
||||
|
||||
---
|
||||
|
||||
### Second Motor Assembly
|
||||
|
||||
**Step 9: Install Motor 2**
|
||||
- Slide the second motor in from the top and link the wire from motor 1 to motor 2.
|
||||
|
||||
<img src="../media/tutorial/img8.jpg" style="height:300px;">
|
||||
|
||||
**Step 10: Attach Shoulder Holder**
|
||||
- Add the shoulder motor holder.
|
||||
- Ensure the wire from motor 1 to motor 2 goes behind the holder while the other wire is routed upward (see photo).
|
||||
- This part can be tight to assemble, you can use a workbench like the image or a similar setup to push the part around the motor.
|
||||
|
||||
<div style="display: flex;">
|
||||
<img src="../media/tutorial/img9.jpg" style="height:250px;">
|
||||
<img src="../media/tutorial/img10.jpg" style="height:250px;">
|
||||
<img src="../media/tutorial/img12.jpg" style="height:250px;">
|
||||
</div>
|
||||
|
||||
**Step 11: Secure Motor 2**
|
||||
- Fasten the second motor with 4 screws.
|
||||
|
||||
**Step 12: Attach Motor Horn**
|
||||
- Attach both motor horns to motor 2, again use the horn screw.
|
||||
|
||||
**Step 13: Attach Base**
|
||||
- Install the base attachment using 2 screws.
|
||||
|
||||
<img src="../media/tutorial/img11.jpg" style="height:300px;">
|
||||
|
||||
**Step 14: Attach Upper Arm**
|
||||
- Attach the upper arm with 4 screws on each side.
|
||||
|
||||
<img src="../media/tutorial/img13.jpg" style="height:300px;">
|
||||
|
||||
---
|
||||
|
||||
### Third Motor Assembly
|
||||
|
||||
**Step 15: Install Motor 3**
|
||||
- Route the motor cable from motor 2 through the cable holder to motor 3, then secure motor 3 with 4 screws.
|
||||
|
||||
**Step 16: Attach Motor Horn**
|
||||
- Attach both motor horns to motor 3 and secure one again with a horn screw.
|
||||
|
||||
<img src="../media/tutorial/img14.jpg" style="height:300px;">
|
||||
|
||||
**Step 17: Attach Forearm**
|
||||
- Connect the forearm to motor 3 using 4 screws on each side.
|
||||
|
||||
<img src="../media/tutorial/img15.jpg" style="height:300px;">
|
||||
|
||||
---
|
||||
|
||||
### Fourth Motor Assembly
|
||||
|
||||
**Step 18: Install Motor 4**
|
||||
- Slide in motor 4, attach the cable from motor 3, and secure the cable in its holder with a screw.
|
||||
|
||||
<div style="display: flex;">
|
||||
<img src="../media/tutorial/img16.jpg" style="height:300px;">
|
||||
<img src="../media/tutorial/img19.jpg" style="height:300px;">
|
||||
</div>
|
||||
|
||||
**Step 19: Attach Motor Holder 4**
|
||||
- Install the fourth motor holder (a tight fit). Ensure one wire is routed upward and the wire from motor 3 is routed downward (see photo).
|
||||
|
||||
<img src="../media/tutorial/img17.jpg" style="height:300px;">
|
||||
|
||||
**Step 20: Secure Motor 4 & Attach Horn**
|
||||
- Fasten motor 4 with 4 screws and attach its motor horns, use for one a horn screw.
|
||||
|
||||
<img src="../media/tutorial/img18.jpg" style="height:300px;">
|
||||
|
||||
---
|
||||
|
||||
### Wrist Assembly
|
||||
|
||||
**Step 21: Install Motor 5**
|
||||
- Insert motor 5 into the wrist holder and secure it with 2 front screws.
|
||||
|
||||
<img src="../media/tutorial/img20.jpg" style="height:300px;">
|
||||
|
||||
**Step 22: Attach Wrist**
|
||||
- Connect the wire from motor 4 to motor 5. And already insert the other wire for the gripper.
|
||||
- Secure the wrist to motor 4 using 4 screws on both sides.
|
||||
|
||||
<img src="../media/tutorial/img22.jpg" style="height:300px;">
|
||||
|
||||
**Step 23: Attach Wrist Horn**
|
||||
- Install only one motor horn on the wrist motor and secure it with a horn screw.
|
||||
|
||||
<img src="../media/tutorial/img23.jpg" style="height:300px;">
|
||||
|
||||
---
|
||||
|
||||
### Follower Configuration
|
||||
|
||||
**Step 24: Attach Gripper**
|
||||
- Attach the gripper to motor 5.
|
||||
|
||||
<img src="../media/tutorial/img24.jpg" style="height:300px;">
|
||||
|
||||
**Step 25: Install Gripper Motor**
|
||||
- Insert the gripper motor, connect the motor wire from motor 5 to motor 6, and secure it with 3 screws on each side.
|
||||
|
||||
<img src="../media/tutorial/img25.jpg" style="height:300px;">
|
||||
|
||||
**Step 26: Attach Gripper Horn & Claw**
|
||||
- Attach the motor horns and again use a horn screw.
|
||||
- Install the gripper claw and secure it with 4 screws on both sides.
|
||||
|
||||
<img src="../media/tutorial/img26.jpg" style="height:300px;">
|
||||
|
||||
**Step 27: Mount Controller**
|
||||
- Attach the motor controller on the back.
|
||||
|
||||
<div style="display: flex;">
|
||||
<img src="../media/tutorial/img27.jpg" style="height:300px;">
|
||||
<img src="../media/tutorial/img28.jpg" style="height:300px;">
|
||||
</div>
|
||||
|
||||
*Assembly complete – proceed to Leader arm assembly.*
|
||||
|
||||
---
|
||||
|
||||
### Leader Configuration
|
||||
|
||||
For the leader configuration, perform **Steps 1–23**. Make sure that you removed the motor gears from the motors.
|
||||
|
||||
**Step 24: Attach Leader Holder**
|
||||
- Mount the leader holder onto the wrist and secure it with a screw.
|
||||
|
||||
<img src="../media/tutorial/img29.jpg" style="height:300px;">
|
||||
|
||||
**Step 25: Attach Handle**
|
||||
- Attach the handle to motor 5 using 4 screws.
|
||||
|
||||
<img src="../media/tutorial/img30.jpg" style="height:300px;">
|
||||
|
||||
**Step 26: Install Gripper Motor**
|
||||
- Insert the gripper motor, secure it with 3 screws on each side, attach a motor horn using a horn screw, and connect the motor wire.
|
||||
|
||||
<img src="../media/tutorial/img31.jpg" style="height:300px;">
|
||||
|
||||
**Step 27: Attach Trigger**
|
||||
- Attach the follower trigger with 4 screws.
|
||||
|
||||
<img src="../media/tutorial/img32.jpg" style="height:300px;">
|
||||
|
||||
**Step 28: Mount Controller**
|
||||
- Attach the motor controller on the back.
|
||||
|
||||
<div style="display: flex;">
|
||||
<img src="../media/tutorial/img27.jpg" style="height:300px;">
|
||||
<img src="../media/tutorial/img28.jpg" style="height:300px;">
|
||||
</div>
|
||||
|
||||
*Assembly complete – proceed to calibration.*
|
||||
|
||||
|
||||
## E. Calibrate
|
||||
|
||||
Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one SO-100 robot to work on another.
|
||||
|
||||
#### a. Manual calibration of follower arm
|
||||
|
||||
> [!IMPORTANT]
|
||||
> Contrarily to step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the auto calibration, we will actually do manual calibration of follower for now.
|
||||
|
||||
You will need to move the follower arm to these positions sequentially:
|
||||
|
||||
| 1. Zero position | 2. Rotated position | 3. Rest position |
|
||||
| ------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
||||
| <img src="../media/so100/follower_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/so100/follower_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/so100/follower_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
|
||||
|
||||
Make sure both arms are connected and run this script to launch manual calibration:
|
||||
```bash
|
||||
python lerobot/scripts/control_robot.py \
|
||||
--robot.type=so100 \
|
||||
--robot.cameras='{}' \
|
||||
--control.type=calibrate \
|
||||
--control.arms='["main_follower"]'
|
||||
```
|
||||
|
||||
#### b. Manual calibration of leader arm
|
||||
Follow step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially:
|
||||
|
||||
| 1. Zero position | 2. Rotated position | 3. Rest position |
|
||||
| ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
||||
| <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
|
||||
|
||||
Run this script to launch manual calibration:
|
||||
```bash
|
||||
python lerobot/scripts/control_robot.py \
|
||||
--robot.type=so100 \
|
||||
--robot.cameras='{}' \
|
||||
--control.type=calibrate \
|
||||
--control.arms='["main_leader"]'
|
||||
```
|
||||
|
||||
## F. Teleoperate
|
||||
|
||||
**Simple teleop**
|
||||
Then you are ready to teleoperate your robot! Run this simple script (it won't connect and display the cameras):
|
||||
```bash
|
||||
python lerobot/scripts/control_robot.py \
|
||||
--robot.type=so100 \
|
||||
--robot.cameras='{}' \
|
||||
--control.type=teleoperate
|
||||
```
|
||||
|
||||
|
||||
#### a. Teleop with displaying cameras
|
||||
Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.
|
||||
|
||||
> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`.
|
||||
|
||||
```bash
|
||||
python lerobot/scripts/control_robot.py \
|
||||
--robot.type=so100 \
|
||||
--control.type=teleoperate
|
||||
```
|
||||
|
||||
## G. Record a dataset
|
||||
|
||||
Once you're familiar with teleoperation, you can record your first dataset with SO-100.
|
||||
|
||||
If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens):
|
||||
```bash
|
||||
huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
|
||||
```
|
||||
|
||||
Store your Hugging Face repository name in a variable to run these commands:
|
||||
```bash
|
||||
HF_USER=$(huggingface-cli whoami | head -n 1)
|
||||
echo $HF_USER
|
||||
```
|
||||
|
||||
Record 2 episodes and upload your dataset to the hub:
|
||||
```bash
|
||||
python lerobot/scripts/control_robot.py \
|
||||
--robot.type=so100 \
|
||||
--control.type=record \
|
||||
--control.fps=30 \
|
||||
--control.single_task="Grasp a lego block and put it in the bin." \
|
||||
--control.repo_id=${HF_USER}/so100_test \
|
||||
--control.tags='["so100","tutorial"]' \
|
||||
--control.warmup_time_s=5 \
|
||||
--control.episode_time_s=30 \
|
||||
--control.reset_time_s=30 \
|
||||
--control.num_episodes=2 \
|
||||
--control.push_to_hub=true
|
||||
```
|
||||
|
||||
Note: You can resume recording by adding `--control.resume=true`.
|
||||
|
||||
## H. Visualize a dataset
|
||||
|
||||
If you uploaded your dataset to the hub with `--control.push_to_hub=true`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by:
|
||||
```bash
|
||||
echo ${HF_USER}/so100_test
|
||||
```
|
||||
|
||||
If you didn't upload with `--control.push_to_hub=false`, you can also visualize it locally with (a window can be opened in the browser `http://127.0.0.1:9090` with the visualization tool):
|
||||
```bash
|
||||
python lerobot/scripts/visualize_dataset_html.py \
|
||||
--repo-id ${HF_USER}/so100_test \
|
||||
--local-files-only 1
|
||||
```
|
||||
|
||||
## I. Replay an episode
|
||||
|
||||
Now try to replay the first episode on your robot:
|
||||
```bash
|
||||
python lerobot/scripts/control_robot.py \
|
||||
--robot.type=so100 \
|
||||
--control.type=replay \
|
||||
--control.fps=30 \
|
||||
--control.repo_id=${HF_USER}/so100_test \
|
||||
--control.episode=0
|
||||
```
|
||||
|
||||
## J. Train a policy
|
||||
|
||||
To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
|
||||
```bash
|
||||
python lerobot/scripts/train.py \
|
||||
--dataset.repo_id=${HF_USER}/so100_test \
|
||||
--policy.type=act \
|
||||
--output_dir=outputs/train/act_so100_test \
|
||||
--job_name=act_so100_test \
|
||||
--policy.device=cuda \
|
||||
--wandb.enable=true
|
||||
```
|
||||
|
||||
Let's explain it:
|
||||
1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/so100_test`.
|
||||
2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
|
||||
4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
|
||||
5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
|
||||
|
||||
Training should take several hours. You will find checkpoints in `outputs/train/act_so100_test/checkpoints`.
|
||||
|
||||
To resume training from a checkpoint, below is an example command to resume from `last` checkpoint of the `act_so100_test` policy:
|
||||
```bash
|
||||
python lerobot/scripts/train.py \
|
||||
--config_path=outputs/train/act_so100_test/checkpoints/last/pretrained_model/train_config.json \
|
||||
--resume=true
|
||||
```
|
||||
|
||||
## K. Evaluate your policy
|
||||
|
||||
You can use the `record` function from [`lerobot/scripts/control_robot.py`](../lerobot/scripts/control_robot.py) but with a policy checkpoint as input. For instance, run this command to record 10 evaluation episodes:
|
||||
```bash
|
||||
python lerobot/scripts/control_robot.py \
|
||||
--robot.type=so100 \
|
||||
--control.type=record \
|
||||
--control.fps=30 \
|
||||
--control.single_task="Grasp a lego block and put it in the bin." \
|
||||
--control.repo_id=${HF_USER}/eval_act_so100_test \
|
||||
--control.tags='["tutorial"]' \
|
||||
--control.warmup_time_s=5 \
|
||||
--control.episode_time_s=30 \
|
||||
--control.reset_time_s=30 \
|
||||
--control.num_episodes=10 \
|
||||
--control.push_to_hub=true \
|
||||
--control.policy.path=outputs/train/act_so100_test/checkpoints/last/pretrained_model
|
||||
```
|
||||
|
||||
As you can see, it's almost the same command as previously used to record your training dataset. Two things changed:
|
||||
1. There is an additional `--control.policy.path` argument which indicates the path to your policy checkpoint with (e.g. `outputs/train/eval_act_so100_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `${HF_USER}/act_so100_test`).
|
||||
2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `${HF_USER}/eval_act_so100_test`).
|
||||
|
||||
## L. More Information
|
||||
|
||||
Follow this [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) for a more in-depth tutorial on controlling real robots with LeRobot.
|
||||
|
||||
> [!TIP]
|
||||
> If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb) in the channel [`#so100-arm`](https://discord.com/channels/1216765309076115607/1237741463832363039).
|
||||
45
examples/hopejr/agugu.py
Normal file
45
examples/hopejr/agugu.py
Normal file
@@ -0,0 +1,45 @@
|
||||
import time
|
||||
import numpy as np
|
||||
|
||||
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus, CalibrationMode
|
||||
|
||||
@staticmethod
|
||||
def degps_to_raw(degps: float) -> int:
|
||||
steps_per_deg = 4096.0 / 360.0
|
||||
speed_in_steps = abs(degps) * steps_per_deg
|
||||
speed_int = int(round(speed_in_steps))
|
||||
if speed_int > 0x7FFF:
|
||||
speed_int = 0x7FFF
|
||||
if degps < 0:
|
||||
return speed_int | 0x8000
|
||||
else:
|
||||
return speed_int & 0x7FFF
|
||||
|
||||
@staticmethod
|
||||
def raw_to_degps(raw_speed: int) -> float:
|
||||
steps_per_deg = 4096.0 / 360.0
|
||||
magnitude = raw_speed & 0x7FFF
|
||||
degps = magnitude / steps_per_deg
|
||||
if raw_speed & 0x8000:
|
||||
degps = -degps
|
||||
return degps
|
||||
|
||||
def main():
|
||||
# Instantiate the bus for a single motor on port /dev/ttyACM0.
|
||||
arm_bus = FeetechMotorsBus(
|
||||
port="/dev/ttyACM0",
|
||||
motors={"wrist_pitch": [1, "scs0009"]},
|
||||
protocol_version=1,
|
||||
group_sync_read=False, # using individual read calls
|
||||
)
|
||||
arm_bus.connect()
|
||||
# Read the current raw motor position.
|
||||
# Note that "Present_Position" is in the raw units.
|
||||
current_raw = arm_bus.read("Present_Position", ["wrist_pitch"])[0]
|
||||
print("Current raw position:", current_raw)
|
||||
arm_bus.write("Goal_Position", 1000)
|
||||
arm_bus.disconnect()
|
||||
exit()
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
BIN
examples/hopejr/asd.png
Normal file
BIN
examples/hopejr/asd.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 148 KiB |
46
examples/hopejr/exoskeleton/plottest.py
Normal file
46
examples/hopejr/exoskeleton/plottest.py
Normal file
@@ -0,0 +1,46 @@
|
||||
import serial
|
||||
import matplotlib.pyplot as plt
|
||||
import matplotlib.animation as animation
|
||||
from collections import deque
|
||||
|
||||
# Adjust this to match your actual serial port and baud rate
|
||||
SERIAL_PORT = '/dev/ttyACM0' # or COM3 on Windows
|
||||
BAUD_RATE = 115200
|
||||
|
||||
# Set up serial connection
|
||||
ser = serial.Serial(SERIAL_PORT, BAUD_RATE)
|
||||
|
||||
# Buffers for real-time plot
|
||||
buffer_len = 200
|
||||
val1_buffer = deque([0]*buffer_len, maxlen=buffer_len)
|
||||
val2_buffer = deque([0]*buffer_len, maxlen=buffer_len)
|
||||
|
||||
# Setup the plot
|
||||
fig, ax = plt.subplots()
|
||||
line1, = ax.plot([], [], label='Sensor 0')
|
||||
line2, = ax.plot([], [], label='Sensor 1')
|
||||
ax.set_ylim(0, 4096)
|
||||
ax.set_xlim(0, buffer_len)
|
||||
ax.legend()
|
||||
|
||||
def update(frame):
|
||||
while ser.in_waiting:
|
||||
line = ser.readline().decode('utf-8').strip()
|
||||
parts = line.split()
|
||||
if len(parts) >= 2:
|
||||
try:
|
||||
val1 = int(parts[0])
|
||||
val2 = int(parts[1])
|
||||
val1_buffer.append(val1)
|
||||
val2_buffer.append(val2)
|
||||
except ValueError:
|
||||
pass # skip malformed lines
|
||||
|
||||
line1.set_ydata(val1_buffer)
|
||||
line1.set_xdata(range(len(val1_buffer)))
|
||||
line2.set_ydata(val2_buffer)
|
||||
line2.set_xdata(range(len(val2_buffer)))
|
||||
return line1, line2
|
||||
|
||||
ani = animation.FuncAnimation(fig, update, interval=50)
|
||||
plt.show()
|
||||
64
examples/hopejr/exoskeleton/plottest7.py
Normal file
64
examples/hopejr/exoskeleton/plottest7.py
Normal file
@@ -0,0 +1,64 @@
|
||||
import serial
|
||||
import matplotlib.pyplot as plt
|
||||
import matplotlib.animation as animation
|
||||
from collections import deque
|
||||
|
||||
# Config
|
||||
SERIAL_PORT = '/dev/ttyACM1' # Change as needed
|
||||
BAUD_RATE = 115200
|
||||
BUFFER_LEN = 200
|
||||
|
||||
# Sensor names in order
|
||||
sensor_names = [
|
||||
"wrist_roll",
|
||||
"wrist_pitch",
|
||||
"wrist_yaw",
|
||||
"elbow_flex",
|
||||
"shoulder_roll",
|
||||
"shoulder_yaw",
|
||||
"shoulder_pitch"
|
||||
]
|
||||
|
||||
# Initialize buffers
|
||||
sensor_data = {
|
||||
name: deque([0]*BUFFER_LEN, maxlen=BUFFER_LEN)
|
||||
for name in sensor_names
|
||||
}
|
||||
|
||||
# Setup plot
|
||||
fig, axes = plt.subplots(len(sensor_names), 1, figsize=(8, 12), sharex=True)
|
||||
fig.tight_layout(pad=3.0)
|
||||
|
||||
lines = {}
|
||||
for i, name in enumerate(sensor_names):
|
||||
axes[i].set_title(name)
|
||||
axes[i].set_xlim(0, BUFFER_LEN)
|
||||
axes[i].set_ylim(0, 4096)
|
||||
line, = axes[i].plot([], [], label=name)
|
||||
axes[i].legend()
|
||||
lines[name] = line
|
||||
|
||||
# Connect to serial
|
||||
ser = serial.Serial(SERIAL_PORT, BAUD_RATE)
|
||||
|
||||
# Update function
|
||||
def update(frame):
|
||||
while ser.in_waiting:
|
||||
line = ser.readline().decode().strip()
|
||||
parts = line.split()
|
||||
if len(parts) != 7:
|
||||
continue
|
||||
try:
|
||||
values = list(map(int, parts))
|
||||
except ValueError:
|
||||
continue
|
||||
for i, name in enumerate(sensor_names):
|
||||
sensor_data[name].append(values[i])
|
||||
for name in sensor_names:
|
||||
x = range(len(sensor_data[name]))
|
||||
lines[name].set_data(x, sensor_data[name])
|
||||
return lines.values()
|
||||
|
||||
# Animate
|
||||
ani = animation.FuncAnimation(fig, update, interval=50, blit=False)
|
||||
plt.show()
|
||||
161
examples/hopejr/exoskeleton/plottestmulti.py
Normal file
161
examples/hopejr/exoskeleton/plottestmulti.py
Normal file
@@ -0,0 +1,161 @@
|
||||
import serial
|
||||
import matplotlib.pyplot as plt
|
||||
import matplotlib.animation as animation
|
||||
from collections import deque
|
||||
|
||||
# Adjust this to match your actual serial port and baud rate
|
||||
SERIAL_PORT = '/dev/ttyACM0' # or COM3 on Windows
|
||||
BAUD_RATE = 115200
|
||||
|
||||
# Set up serial connection
|
||||
ser = serial.Serial(SERIAL_PORT, BAUD_RATE)
|
||||
|
||||
# How many data points to keep in the scrolling buffer
|
||||
buffer_len = 200
|
||||
|
||||
# -------------------------------------------------------------------
|
||||
# 1) Sensor buffers for existing sensors + new wrist_pitch, wrist_yaw
|
||||
# -------------------------------------------------------------------
|
||||
sensor_buffers = {
|
||||
'wrist_roll': {
|
||||
'val1': deque([0]*buffer_len, maxlen=buffer_len),
|
||||
'val2': deque([0]*buffer_len, maxlen=buffer_len)
|
||||
},
|
||||
'elbow_pitch': {
|
||||
'val1': deque([0]*buffer_len, maxlen=buffer_len),
|
||||
'val2': deque([0]*buffer_len, maxlen=buffer_len)
|
||||
},
|
||||
'shoulder_pitch': {
|
||||
'val1': deque([0]*buffer_len, maxlen=buffer_len),
|
||||
'val2': deque([0]*buffer_len, maxlen=buffer_len)
|
||||
},
|
||||
'shoulder_yaw': {
|
||||
'val1': deque([0]*buffer_len, maxlen=buffer_len),
|
||||
'val2': deque([0]*buffer_len, maxlen=buffer_len)
|
||||
},
|
||||
'shoulder_roll': {
|
||||
'val1': deque([0]*buffer_len, maxlen=buffer_len),
|
||||
'val2': deque([0]*buffer_len, maxlen=buffer_len)
|
||||
},
|
||||
# --- New single-valued sensors ---
|
||||
'wrist_pitch': {
|
||||
'val1': deque([0]*buffer_len, maxlen=buffer_len) # Only one line
|
||||
},
|
||||
'wrist_yaw': {
|
||||
'val1': deque([0]*buffer_len, maxlen=buffer_len) # Only one line
|
||||
},
|
||||
}
|
||||
|
||||
# -------------------------------------------------------------------
|
||||
# 2) Figure with 7 subplots (was 5). We keep the original 5 + 2 new.
|
||||
# -------------------------------------------------------------------
|
||||
fig, axes = plt.subplots(7, 1, figsize=(8, 14), sharex=True)
|
||||
fig.tight_layout(pad=3.0)
|
||||
|
||||
# We'll store line references in a dict so we can update them in update().
|
||||
lines = {}
|
||||
|
||||
# -------------------------------------------------------------------
|
||||
# 3) Define each subplot, including new ones at the end.
|
||||
# -------------------------------------------------------------------
|
||||
subplot_info = [
|
||||
('wrist_roll', 'Wrist Roll (2,3)', axes[0]),
|
||||
('elbow_pitch', 'Elbow Pitch (0,1)', axes[1]),
|
||||
('shoulder_pitch', 'Shoulder Pitch (10,11)', axes[2]),
|
||||
('shoulder_yaw', 'Shoulder Yaw (12,13)', axes[3]),
|
||||
('shoulder_roll', 'Shoulder Roll (14,15)', axes[4]),
|
||||
('wrist_pitch', 'Wrist Pitch (0)', axes[5]), # new
|
||||
('wrist_yaw', 'Wrist Yaw (1)', axes[6]), # new
|
||||
]
|
||||
|
||||
# Set up each subplot
|
||||
for (sensor_name, label, ax) in subplot_info:
|
||||
ax.set_title(label)
|
||||
ax.set_xlim(0, buffer_len)
|
||||
ax.set_ylim(0, 4096) # adjust if needed
|
||||
|
||||
# For existing sensors, plot 2 lines (val1, val2)
|
||||
# For the new single-line sensors, plot just 1 line
|
||||
if sensor_name in ['wrist_pitch', 'wrist_yaw']:
|
||||
# Single-valued
|
||||
line, = ax.plot([], [], label=f"{sensor_name}")
|
||||
lines[sensor_name] = line
|
||||
else:
|
||||
# Pair of values
|
||||
line1, = ax.plot([], [], label=f"{sensor_name} - val1")
|
||||
line2, = ax.plot([], [], label=f"{sensor_name} - val2")
|
||||
lines[sensor_name] = [line1, line2]
|
||||
|
||||
ax.legend()
|
||||
|
||||
def update(frame):
|
||||
# Read all available lines from the serial buffer
|
||||
while ser.in_waiting:
|
||||
raw_line = ser.readline().decode('utf-8').strip()
|
||||
parts = raw_line.split()
|
||||
|
||||
# We expect at least 16 values if all sensors are present
|
||||
if len(parts) < 7:
|
||||
continue
|
||||
|
||||
try:
|
||||
values = list(map(int, parts))
|
||||
except ValueError:
|
||||
# If there's a parsing error, skip this line
|
||||
continue
|
||||
|
||||
# Original code: extract the relevant values and append to the correct buffer
|
||||
sensor_buffers['elbow_pitch']['val1'].append(values[13])
|
||||
sensor_buffers['elbow_pitch']['val2'].append(values[13])
|
||||
|
||||
sensor_buffers['wrist_roll']['val1'].append(values[3])
|
||||
sensor_buffers['wrist_roll']['val2'].append(values[3])
|
||||
|
||||
sensor_buffers['shoulder_pitch']['val1'].append(values[14])
|
||||
sensor_buffers['shoulder_pitch']['val2'].append(values[14])
|
||||
|
||||
sensor_buffers['shoulder_yaw']['val1'].append(values[8])
|
||||
sensor_buffers['shoulder_yaw']['val2'].append(values[8])
|
||||
|
||||
sensor_buffers['shoulder_roll']['val1'].append(values[10])
|
||||
sensor_buffers['shoulder_roll']['val2'].append(values[10])
|
||||
|
||||
# -------------------------------------------------------------------
|
||||
# 4) New code: also read wrist_pitch (index 0) and wrist_yaw (index 1)
|
||||
# -------------------------------------------------------------------
|
||||
sensor_buffers['wrist_yaw']['val1'].append(values[0])
|
||||
sensor_buffers['wrist_pitch']['val1'].append(values[1])
|
||||
|
||||
# Update each line's data in each subplot
|
||||
all_lines = []
|
||||
for (sensor_name, _, ax) in subplot_info:
|
||||
# x-values are just the index range of the buffer for val1
|
||||
x_data = range(len(sensor_buffers[sensor_name]['val1']))
|
||||
|
||||
# If this sensor has two lines
|
||||
if isinstance(lines[sensor_name], list):
|
||||
# First line
|
||||
lines[sensor_name][0].set_data(
|
||||
x_data,
|
||||
sensor_buffers[sensor_name]['val1']
|
||||
)
|
||||
# Second line
|
||||
lines[sensor_name][1].set_data(
|
||||
x_data,
|
||||
sensor_buffers[sensor_name]['val2']
|
||||
)
|
||||
all_lines.extend(lines[sensor_name])
|
||||
else:
|
||||
# Single line only (wrist_pitch, wrist_yaw)
|
||||
lines[sensor_name].set_data(
|
||||
x_data,
|
||||
sensor_buffers[sensor_name]['val1']
|
||||
)
|
||||
all_lines.append(lines[sensor_name])
|
||||
|
||||
return all_lines
|
||||
|
||||
# Create the animation
|
||||
ani = animation.FuncAnimation(fig, update, interval=50, blit=False)
|
||||
|
||||
plt.show()
|
||||
186
examples/hopejr/follower.py
Normal file
186
examples/hopejr/follower.py
Normal file
@@ -0,0 +1,186 @@
|
||||
from lerobot.common.robot_devices.motors.feetech import (
|
||||
CalibrationMode,
|
||||
FeetechMotorsBus,
|
||||
)
|
||||
import yaml
|
||||
|
||||
class HopeJuniorRobot:
|
||||
def __init__(self):
|
||||
self.arm_port = "/dev/tty.usbserial-140"
|
||||
self.hand_port = "/dev/tty.usbmodem58760436961"
|
||||
self.arm_bus = FeetechMotorsBus(
|
||||
port = self.arm_port,
|
||||
motors={
|
||||
# "motor1": (1, "sts3250"),
|
||||
# "motor2": (2, "sts3250"),
|
||||
# "motor3": (3, "sts3250"),
|
||||
|
||||
#"shoulder_pitch": [1, "sts3215"],
|
||||
"shoulder_pitch": [1, "sm8512bl"],
|
||||
"shoulder_yaw": [2, "sts3250"], # TODO: sts3250
|
||||
"shoulder_roll": [3, "sts3250"], # TODO: sts3250
|
||||
"elbow_flex": [4, "sts3250"],
|
||||
"wrist_roll": [5, "sts3215"],
|
||||
"wrist_yaw": [6, "sts3215"],
|
||||
"wrist_pitch": [7, "sts3215"],
|
||||
},
|
||||
protocol_version=0,
|
||||
)
|
||||
self.hand_bus = FeetechMotorsBus(
|
||||
port=self.hand_port,
|
||||
|
||||
motors = {
|
||||
# Thumb
|
||||
"thumb_basel_rotation": [1, "scs0009"],
|
||||
"thumb_mcp": [3, "scs0009"],
|
||||
"thumb_pip": [4, "scs0009"],
|
||||
"thumb_dip": [13, "scs0009"],
|
||||
|
||||
# Index
|
||||
"index_thumb_side": [5, "scs0009"],
|
||||
"index_pinky_side": [6, "scs0009"],
|
||||
"index_flexor": [16, "scs0009"],
|
||||
|
||||
# Middle
|
||||
"middle_thumb_side": [8, "scs0009"],
|
||||
"middle_pinky_side": [9, "scs0009"],
|
||||
"middle_flexor": [2, "scs0009"],
|
||||
|
||||
# Ring
|
||||
"ring_thumb_side": [11, "scs0009"],
|
||||
"ring_pinky_side": [12, "scs0009"],
|
||||
"ring_flexor": [7, "scs0009"],
|
||||
|
||||
# Pinky
|
||||
"pinky_thumb_side": [14, "scs0009"],
|
||||
"pinky_pinky_side": [15, "scs0009"],
|
||||
"pinky_flexor": [10, "scs0009"],
|
||||
},
|
||||
protocol_version=1,#1
|
||||
group_sync_read=False,
|
||||
)
|
||||
|
||||
self.arm_calib_dict = self.get_arm_calibration()
|
||||
self.hand_calib_dict = self.get_hand_calibration()
|
||||
|
||||
|
||||
def apply_arm_config(self, config_file):
|
||||
with open(config_file, "r") as file:
|
||||
config = yaml.safe_load(file)
|
||||
for param, value in config.get("robot", {}).get("arm_bus", {}).items():
|
||||
self.arm_bus.write(param, value)
|
||||
|
||||
def apply_hand_config(config_file, robot):
|
||||
with open(config_file, "r") as file:
|
||||
config = yaml.safe_load(file)
|
||||
|
||||
for param, value in config.get("robot", {}).get("hand_bus", {}).items():
|
||||
robot.arm_bus.write(param, value)
|
||||
|
||||
def get_hand_calibration(self):
|
||||
homing_offset = [0] * len(self.hand_bus.motor_names)
|
||||
drive_mode = [0] * len(self.hand_bus.motor_names)
|
||||
|
||||
start_pos = [
|
||||
750, # thumb_basel_rotation
|
||||
100, # thumb_mcp
|
||||
700, # thumb_pip
|
||||
100, # thumb_dip
|
||||
|
||||
800, # index_thumb_side
|
||||
950, # index_pinky_side
|
||||
0, # index_flexor
|
||||
|
||||
250, # middle_thumb_side
|
||||
850, # middle_pinky_side
|
||||
0, # middle_flexor
|
||||
|
||||
850, # ring_thumb_side
|
||||
900, # ring_pinky_side
|
||||
0, # ring_flexor
|
||||
|
||||
00, # pinky_thumb_side
|
||||
950, # pinky_pinky_side
|
||||
0, # pinky_flexor
|
||||
]
|
||||
|
||||
end_pos = [
|
||||
start_pos[0] - 550, # thumb_basel_rotation
|
||||
start_pos[1] + 400, # thumb_mcp
|
||||
start_pos[2] + 300, # thumb_pip
|
||||
start_pos[3] + 200, # thumb_dip
|
||||
|
||||
start_pos[4] - 700, # index_thumb_side
|
||||
start_pos[5] - 300, # index_pinky_side
|
||||
start_pos[6] + 600, # index_flexor
|
||||
|
||||
start_pos[7] + 700, # middle_thumb_side
|
||||
start_pos[8] - 400, # middle_pinky_side
|
||||
start_pos[9] + 600, # middle_flexor
|
||||
|
||||
start_pos[10] - 600, # ring_thumb_side
|
||||
start_pos[11] - 400, # ring_pinky_side
|
||||
start_pos[12] + 600, # ring_flexor
|
||||
|
||||
start_pos[13] + 400, # pinky_thumb_side
|
||||
start_pos[14] - 450, # pinky_pinky_side
|
||||
start_pos[15] + 600, # pinky_flexor
|
||||
]
|
||||
|
||||
|
||||
|
||||
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.hand_bus.motor_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": start_pos,
|
||||
"end_pos": end_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.hand_bus.motor_names,
|
||||
}
|
||||
return calib_dict
|
||||
|
||||
def get_arm_calibration(self):
|
||||
|
||||
homing_offset = [0] * len(self.arm_bus.motor_names)
|
||||
drive_mode = [0] * len(self.arm_bus.motor_names)
|
||||
|
||||
start_pos = [
|
||||
1800, # shoulder_up
|
||||
2800, # shoulder_forward
|
||||
1800, # shoulder_roll
|
||||
1200, # bend_elbow
|
||||
700, # wrist_roll
|
||||
1850, # wrist_yaw
|
||||
1700, # wrist_pitch
|
||||
]
|
||||
|
||||
end_pos = [
|
||||
2800, # shoulder_up
|
||||
3150, # shoulder_forward
|
||||
400, #shoulder_roll
|
||||
2300, # bend_elbow
|
||||
2300, # wrist_roll
|
||||
2150, # wrist_yaw
|
||||
2300, # wrist_pitch
|
||||
]
|
||||
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.arm_bus.motor_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": start_pos,
|
||||
"end_pos": end_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.arm_bus.motor_names,
|
||||
}
|
||||
return calib_dict
|
||||
|
||||
def connect_arm(self):
|
||||
self.arm_bus.connect()
|
||||
|
||||
def connect_hand(self):
|
||||
self.hand_bus.connect()
|
||||
730
examples/hopejr/leader.py
Normal file
730
examples/hopejr/leader.py
Normal file
@@ -0,0 +1,730 @@
|
||||
from lerobot.common.robot_devices.motors.feetech import (
|
||||
CalibrationMode,
|
||||
FeetechMotorsBus,
|
||||
)
|
||||
import serial
|
||||
import threading
|
||||
import time
|
||||
from typing import Callable
|
||||
import pickle
|
||||
import cv2
|
||||
import numpy as np
|
||||
from collections import deque
|
||||
import json
|
||||
import os
|
||||
LOWER_BOUND_LINEAR = -100
|
||||
UPPER_BOUND_LINEAR = 200
|
||||
|
||||
class HomonculusArm:
|
||||
def __init__(self, serial_port: str = "/dev/ttyACM1", baud_rate: int = 115200):
|
||||
self.serial_port = serial_port
|
||||
self.baud_rate = 115200
|
||||
self.serial = serial.Serial(self.serial_port, self.baud_rate, timeout=1)
|
||||
|
||||
# Number of past values to keep in memory
|
||||
self.buffer_size = 10
|
||||
|
||||
# Initialize a buffer (deque) for each joint
|
||||
self.joint_buffer = {
|
||||
"wrist_roll": deque(maxlen=self.buffer_size),
|
||||
"wrist_pitch": deque(maxlen=self.buffer_size),
|
||||
"wrist_yaw": deque(maxlen=self.buffer_size),
|
||||
"elbow_flex": deque(maxlen=self.buffer_size),
|
||||
"shoulder_roll": deque(maxlen=self.buffer_size),
|
||||
"shoulder_yaw": deque(maxlen=self.buffer_size),
|
||||
"shoulder_pitch": deque(maxlen=self.buffer_size),
|
||||
}
|
||||
|
||||
# Start the reading thread
|
||||
self.thread = threading.Thread(target=self.async_read, daemon=True)
|
||||
self.thread.start()
|
||||
|
||||
# Last read dictionary
|
||||
self.last_d = {
|
||||
"wrist_roll": 100,
|
||||
"wrist_pitch": 100,
|
||||
"wrist_yaw": 100,
|
||||
"elbow_flex": 100,
|
||||
"shoulder_roll": 100,
|
||||
"shoulder_yaw": 100,
|
||||
"shoulder_pitch": 100,
|
||||
}
|
||||
self.calibration = None
|
||||
|
||||
# For adaptive EMA, we store a "previous smoothed" state per joint
|
||||
self.adaptive_ema_state = {
|
||||
"wrist_roll": None,
|
||||
"wrist_pitch": None,
|
||||
"wrist_yaw": None,
|
||||
"elbow_flex": None,
|
||||
"shoulder_roll": None,
|
||||
"shoulder_yaw": None,
|
||||
"shoulder_pitch": None,
|
||||
}
|
||||
|
||||
self.kalman_state = {
|
||||
joint: {"x": None, "P": None} for joint in self.joint_buffer.keys()
|
||||
}
|
||||
|
||||
@property
|
||||
def joint_names(self):
|
||||
return list(self.last_d.keys())
|
||||
|
||||
def read(self, motor_names: list[str] | None = None):
|
||||
"""
|
||||
Return the most recent (single) values from self.last_d,
|
||||
optionally applying calibration.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.joint_names
|
||||
|
||||
# Get raw (last) values
|
||||
values = np.array([self.last_d[k] for k in motor_names])
|
||||
|
||||
#print(motor_names)
|
||||
print(values)
|
||||
|
||||
# Apply calibration if available
|
||||
if self.calibration is not None:
|
||||
values = self.apply_calibration(values, motor_names)
|
||||
print(values)
|
||||
return values
|
||||
|
||||
def read_running_average(self, motor_names: list[str] | None = None, linearize=False):
|
||||
"""
|
||||
Return the AVERAGE of the most recent self.buffer_size (or fewer, if not enough data) readings
|
||||
for each joint, optionally applying calibration.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.joint_names
|
||||
|
||||
# Gather averaged readings from buffers
|
||||
smoothed_vals = []
|
||||
for name in motor_names:
|
||||
buf = self.joint_buffer[name]
|
||||
if len(buf) == 0:
|
||||
# If no data has been read yet, fall back to last_d
|
||||
smoothed_vals.append(self.last_d[name])
|
||||
else:
|
||||
# Otherwise, average over the existing buffer
|
||||
smoothed_vals.append(np.mean(buf))
|
||||
|
||||
smoothed_vals = np.array(smoothed_vals, dtype=np.float32)
|
||||
|
||||
# Apply calibration if available
|
||||
if self.calibration is not None:
|
||||
|
||||
if False:
|
||||
for i, joint_name in enumerate(motor_names):
|
||||
# Re-use the same raw_min / raw_max from the calibration
|
||||
calib_idx = self.calibration["motor_names"].index(joint_name)
|
||||
min_reading = self.calibration["start_pos"][calib_idx]
|
||||
max_reading = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
B_value = smoothed_vals[i]
|
||||
print(joint_name)
|
||||
if joint_name == "elbow_flex":
|
||||
print('elbow')
|
||||
try:
|
||||
smoothed_vals[i] = int(min_reading+(max_reading - min_reading)*np.arcsin((B_value-min_reading)/(max_reading-min_reading))/(np.pi / 2))
|
||||
except:
|
||||
print('not working')
|
||||
print(smoothed_vals)
|
||||
print('not working')
|
||||
smoothed_vals = self.apply_calibration(smoothed_vals, motor_names)
|
||||
return smoothed_vals
|
||||
|
||||
def read_kalman_filter(
|
||||
self,
|
||||
Q: float = 1.0,
|
||||
R: float = 100.0,
|
||||
motor_names: list[str] | None = None
|
||||
) -> np.ndarray:
|
||||
"""
|
||||
Return a Kalman-filtered reading for each requested joint.
|
||||
|
||||
We store a separate Kalman filter (x, P) per joint. For each new measurement Z:
|
||||
1) Predict:
|
||||
x_pred = x (assuming no motion model)
|
||||
P_pred = P + Q
|
||||
2) Update:
|
||||
K = P_pred / (P_pred + R)
|
||||
x = x_pred + K * (Z - x_pred)
|
||||
P = (1 - K) * P_pred
|
||||
|
||||
:param Q: Process noise. Larger Q means the estimate can change more freely.
|
||||
:param R: Measurement noise. Larger R means we trust our sensor less.
|
||||
:param motor_names: If not specified, all joints are filtered.
|
||||
:return: Kalman-filtered positions as a numpy array.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.joint_names
|
||||
|
||||
current_vals = np.array([self.last_d[name] for name in motor_names], dtype=np.float32)
|
||||
filtered_vals = np.zeros_like(current_vals)
|
||||
|
||||
for i, name in enumerate(motor_names):
|
||||
# Retrieve the filter state for this joint
|
||||
x = self.kalman_state[name]["x"]
|
||||
P = self.kalman_state[name]["P"]
|
||||
Z = current_vals[i]
|
||||
|
||||
# If this is the first reading, initialize
|
||||
if x is None or P is None:
|
||||
x = Z
|
||||
P = 1.0 # or some large initial uncertainty
|
||||
|
||||
# 1) Predict step
|
||||
x_pred = x # no velocity model, so x_pred = x
|
||||
P_pred = P + Q
|
||||
|
||||
# 2) Update step
|
||||
K = P_pred / (P_pred + R) # Kalman gain
|
||||
x_new = x_pred + K * (Z - x_pred) # new state estimate
|
||||
P_new = (1 - K) * P_pred # new covariance
|
||||
|
||||
# Save back
|
||||
self.kalman_state[name]["x"] = x_new
|
||||
self.kalman_state[name]["P"] = P_new
|
||||
|
||||
filtered_vals[i] = x_new
|
||||
|
||||
if self.calibration is not None:
|
||||
filtered_vals = self.apply_calibration(filtered_vals, motor_names)
|
||||
|
||||
return filtered_vals
|
||||
|
||||
|
||||
def async_read(self):
|
||||
"""
|
||||
Continuously read from the serial buffer in its own thread,
|
||||
store into `self.last_d` and also append to the rolling buffer (joint_buffer).
|
||||
"""
|
||||
while True:
|
||||
if self.serial.in_waiting > 0:
|
||||
self.serial.flush()
|
||||
vals = self.serial.readline().decode("utf-8").strip()
|
||||
vals = vals.split(" ")
|
||||
|
||||
if len(vals) != 7:
|
||||
continue
|
||||
try:
|
||||
vals = [int(val) for val in vals]#remove last digit
|
||||
except ValueError:
|
||||
self.serial.flush()
|
||||
vals = self.serial.readline().decode("utf-8").strip()
|
||||
vals = vals.split(" ")
|
||||
vals = [int(val) for val in vals]
|
||||
d = {
|
||||
"wrist_roll": vals[0],
|
||||
"wrist_yaw": vals[1],
|
||||
"wrist_pitch": vals[2],
|
||||
"elbow_flex": vals[3],
|
||||
"shoulder_roll": vals[4],
|
||||
"shoulder_yaw": vals[5],
|
||||
"shoulder_pitch": vals[6],
|
||||
}
|
||||
|
||||
# Update the last_d dictionary
|
||||
self.last_d = d
|
||||
|
||||
# Also push these new values into the rolling buffers
|
||||
for joint_name, joint_val in d.items():
|
||||
self.joint_buffer[joint_name].append(joint_val)
|
||||
|
||||
# Optional: short sleep to avoid busy-loop
|
||||
# time.sleep(0.001)
|
||||
|
||||
def run_calibration(self, robot):
|
||||
robot.arm_bus.write("Acceleration", 50)
|
||||
n_joints = len(self.joint_names)
|
||||
|
||||
max_open_all = np.zeros(n_joints, dtype=np.float32)
|
||||
min_open_all = np.zeros(n_joints, dtype=np.float32)
|
||||
max_closed_all = np.zeros(n_joints, dtype=np.float32)
|
||||
min_closed_all = np.zeros(n_joints, dtype=np.float32)
|
||||
|
||||
for i, jname in enumerate(self.joint_names):
|
||||
|
||||
print(f"\n--- Calibrating joint '{jname}' ---")
|
||||
|
||||
joint_idx = robot.arm_calib_dict["motor_names"].index(jname)
|
||||
open_val = robot.arm_calib_dict["start_pos"][joint_idx]
|
||||
print(f"Commanding {jname} to OPEN position {open_val}...")
|
||||
robot.arm_bus.write("Goal_Position", [open_val], [jname])
|
||||
|
||||
input("Physically verify or adjust the joint. Press Enter when ready to capture...")
|
||||
|
||||
open_pos_list = []
|
||||
for _ in range(100):
|
||||
all_joints_vals = self.read() # read entire arm
|
||||
open_pos_list.append(all_joints_vals[i]) # store only this joint
|
||||
time.sleep(0.01)
|
||||
|
||||
# Convert to numpy and track min/max
|
||||
open_array = np.array(open_pos_list, dtype=np.float32)
|
||||
max_open_all[i] = open_array.max()
|
||||
min_open_all[i] = open_array.min()
|
||||
closed_val = robot.arm_calib_dict["end_pos"][joint_idx]
|
||||
if jname == "elbow_flex":
|
||||
closed_val = closed_val - 700
|
||||
closed_val = robot.arm_calib_dict["end_pos"][joint_idx]
|
||||
print(f"Commanding {jname} to CLOSED position {closed_val}...")
|
||||
robot.arm_bus.write("Goal_Position", [closed_val], [jname])
|
||||
|
||||
input("Physically verify or adjust the joint. Press Enter when ready to capture...")
|
||||
|
||||
closed_pos_list = []
|
||||
for _ in range(100):
|
||||
all_joints_vals = self.read()
|
||||
closed_pos_list.append(all_joints_vals[i])
|
||||
time.sleep(0.01)
|
||||
|
||||
closed_array = np.array(closed_pos_list, dtype=np.float32)
|
||||
# Some thresholding for closed positions
|
||||
#closed_array[closed_array < 1000] = 60000
|
||||
|
||||
max_closed_all[i] = closed_array.max()
|
||||
min_closed_all[i] = closed_array.min()
|
||||
|
||||
robot.arm_bus.write("Goal_Position", [int((closed_val+open_val)/2)], [jname])
|
||||
|
||||
open_pos = np.maximum(max_open_all, max_closed_all)
|
||||
closed_pos = np.minimum(min_open_all, min_closed_all)
|
||||
|
||||
for i, jname in enumerate(self.joint_names):
|
||||
if jname not in ["wrist_pitch", "shoulder_pitch"]:
|
||||
# Swap open/closed for these joints
|
||||
tmp_pos = open_pos[i]
|
||||
open_pos[i] = closed_pos[i]
|
||||
closed_pos[i] = tmp_pos
|
||||
|
||||
# Debug prints
|
||||
print("\nFinal open/closed arrays after any swaps/inversions:")
|
||||
print(f"open_pos={open_pos}")
|
||||
print(f"closed_pos={closed_pos}")
|
||||
|
||||
|
||||
homing_offset = [0] * n_joints
|
||||
drive_mode = [0] * n_joints
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * n_joints
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": open_pos,
|
||||
"end_pos": closed_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.joint_names,
|
||||
}
|
||||
file_path = "examples/hopejr/settings/arm_calib.pkl"
|
||||
|
||||
if not os.path.exists(file_path):
|
||||
with open(file_path, "wb") as f:
|
||||
pickle.dump(calib_dict, f)
|
||||
print(f"Dictionary saved to {file_path}")
|
||||
|
||||
self.set_calibration(calib_dict)
|
||||
|
||||
def set_calibration(self, calibration: dict[str, list]):
|
||||
self.calibration = calibration
|
||||
|
||||
def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
|
||||
"""
|
||||
Example calibration that linearly maps [start_pos, end_pos] to [0,100].
|
||||
Extend or modify for your needs.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.joint_names
|
||||
|
||||
values = values.astype(np.float32)
|
||||
|
||||
for i, name in enumerate(motor_names):
|
||||
calib_idx = self.calibration["motor_names"].index(name)
|
||||
calib_mode = self.calibration["calib_mode"][calib_idx]
|
||||
|
||||
if CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
|
||||
start_pos = self.calibration["start_pos"][calib_idx]
|
||||
end_pos = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
# Rescale the present position to [0, 100]
|
||||
values[i] = (values[i] - start_pos) / (end_pos - start_pos) * 100
|
||||
|
||||
# Check boundaries
|
||||
if (values[i] < LOWER_BOUND_LINEAR) or (values[i] > UPPER_BOUND_LINEAR):
|
||||
# If you want to handle out-of-range differently:
|
||||
# raise JointOutOfRangeError(msg)
|
||||
msg = (
|
||||
f"Wrong motor position range detected for {name}. "
|
||||
f"Value = {values[i]} %, expected within [{LOWER_BOUND_LINEAR}, {UPPER_BOUND_LINEAR}]"
|
||||
)
|
||||
print(msg)
|
||||
|
||||
return values
|
||||
|
||||
|
||||
class HomonculusGlove:
|
||||
def __init__(self, serial_port: str = "/dev/ttyACM1", baud_rate: int = 115200):
|
||||
self.serial_port = serial_port
|
||||
self.baud_rate = baud_rate
|
||||
self.serial = serial.Serial(self.serial_port, self.baud_rate, timeout=1)
|
||||
|
||||
# Number of past values to keep in memory
|
||||
self.buffer_size = 10
|
||||
|
||||
# Initialize a buffer (deque) for each joint
|
||||
self.joint_buffer = {
|
||||
"thumb_0": deque(maxlen=self.buffer_size),
|
||||
"thumb_1": deque(maxlen=self.buffer_size),
|
||||
"thumb_2": deque(maxlen=self.buffer_size),
|
||||
"thumb_3": deque(maxlen=self.buffer_size),
|
||||
"index_0": deque(maxlen=self.buffer_size),
|
||||
"index_1": deque(maxlen=self.buffer_size),
|
||||
"index_2": deque(maxlen=self.buffer_size),
|
||||
"middle_0": deque(maxlen=self.buffer_size),
|
||||
"middle_1": deque(maxlen=self.buffer_size),
|
||||
"middle_2": deque(maxlen=self.buffer_size),
|
||||
"ring_0": deque(maxlen=self.buffer_size),
|
||||
"ring_1": deque(maxlen=self.buffer_size),
|
||||
"ring_2": deque(maxlen=self.buffer_size),
|
||||
"pinky_0": deque(maxlen=self.buffer_size),
|
||||
"pinky_1": deque(maxlen=self.buffer_size),
|
||||
"pinky_2": deque(maxlen=self.buffer_size),
|
||||
"battery_voltage": deque(maxlen=self.buffer_size),
|
||||
}
|
||||
|
||||
# Start the reading thread
|
||||
self.thread = threading.Thread(target=self.async_read, daemon=True)
|
||||
self.thread.start()
|
||||
|
||||
# Last read dictionary
|
||||
self.last_d = {
|
||||
"thumb_0": 100,
|
||||
"thumb_1": 100,
|
||||
"thumb_2": 100,
|
||||
"thumb_3": 100,
|
||||
"index_0": 100,
|
||||
"index_1": 100,
|
||||
"index_2": 100,
|
||||
"middle_0": 100,
|
||||
"middle_1": 100,
|
||||
"middle_2": 100,
|
||||
"ring_0": 100,
|
||||
"ring_1": 100,
|
||||
"ring_2": 100,
|
||||
"pinky_0": 100,
|
||||
"pinky_1": 100,
|
||||
"pinky_2": 100,
|
||||
"battery_voltage": 100,
|
||||
}
|
||||
self.calibration = None
|
||||
|
||||
@property
|
||||
def joint_names(self):
|
||||
return list(self.last_d.keys())
|
||||
|
||||
def read(self, motor_names: list[str] | None = None):
|
||||
"""
|
||||
Return the most recent (single) values from self.last_d,
|
||||
optionally applying calibration.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.joint_names
|
||||
|
||||
# Get raw (last) values
|
||||
values = np.array([self.last_d[k] for k in motor_names])
|
||||
|
||||
print(values)
|
||||
|
||||
# Apply calibration if available
|
||||
if self.calibration is not None:
|
||||
values = self.apply_calibration(values, motor_names)
|
||||
print(values)
|
||||
return values
|
||||
|
||||
def read_running_average(self, motor_names: list[str] | None = None, linearize=False):
|
||||
"""
|
||||
Return the AVERAGE of the most recent self.buffer_size (or fewer, if not enough data) readings
|
||||
for each joint, optionally applying calibration.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.joint_names
|
||||
|
||||
# Gather averaged readings from buffers
|
||||
smoothed_vals = []
|
||||
for name in motor_names:
|
||||
buf = self.joint_buffer[name]
|
||||
if len(buf) == 0:
|
||||
# If no data has been read yet, fall back to last_d
|
||||
smoothed_vals.append(self.last_d[name])
|
||||
else:
|
||||
# Otherwise, average over the existing buffer
|
||||
smoothed_vals.append(np.mean(buf))
|
||||
|
||||
smoothed_vals = np.array(smoothed_vals, dtype=np.float32)
|
||||
|
||||
# Apply calibration if available
|
||||
if self.calibration is not None:
|
||||
smoothed_vals = self.apply_calibration(smoothed_vals, motor_names)
|
||||
|
||||
return smoothed_vals
|
||||
|
||||
def async_read(self):
|
||||
"""
|
||||
Continuously read from the serial buffer in its own thread,
|
||||
store into `self.last_d` and also append to the rolling buffer (joint_buffer).
|
||||
"""
|
||||
while True:
|
||||
if self.serial.in_waiting > 0:
|
||||
self.serial.flush()
|
||||
vals = self.serial.readline().decode("utf-8").strip()
|
||||
vals = vals.split(" ")
|
||||
if len(vals) != 17:
|
||||
continue
|
||||
vals = [int(val) for val in vals]
|
||||
|
||||
d = {
|
||||
"thumb_0": vals[0],
|
||||
"thumb_1": vals[1],
|
||||
"thumb_2": vals[2],
|
||||
"thumb_3": vals[3],
|
||||
"index_0": vals[4],
|
||||
"index_1": vals[5],
|
||||
"index_2": vals[6],
|
||||
"middle_0": vals[7],
|
||||
"middle_1": vals[8],
|
||||
"middle_2": vals[9],
|
||||
"ring_0": vals[10],
|
||||
"ring_1": vals[11],
|
||||
"ring_2": vals[12],
|
||||
"pinky_0": vals[13],
|
||||
"pinky_1": vals[14],
|
||||
"pinky_2": vals[15],
|
||||
"battery_voltage": vals[16],
|
||||
}
|
||||
|
||||
# Update the last_d dictionary
|
||||
self.last_d = d
|
||||
|
||||
# Also push these new values into the rolling buffers
|
||||
for joint_name, joint_val in d.items():
|
||||
self.joint_buffer[joint_name].append(joint_val)
|
||||
|
||||
def run_calibration(self):
|
||||
print("\nMove arm to open position")
|
||||
input("Press Enter to continue...")
|
||||
open_pos_list = []
|
||||
for _ in range(100):
|
||||
open_pos = self.read()
|
||||
open_pos_list.append(open_pos)
|
||||
time.sleep(0.01)
|
||||
open_pos = np.array(open_pos_list)
|
||||
max_open_pos = open_pos.max(axis=0)
|
||||
min_open_pos = open_pos.min(axis=0)
|
||||
|
||||
print(f"{max_open_pos=}")
|
||||
print(f"{min_open_pos=}")
|
||||
|
||||
print("\nMove arm to closed position")
|
||||
input("Press Enter to continue...")
|
||||
closed_pos_list = []
|
||||
for _ in range(100):
|
||||
closed_pos = self.read()
|
||||
closed_pos_list.append(closed_pos)
|
||||
time.sleep(0.01)
|
||||
closed_pos = np.array(closed_pos_list)
|
||||
max_closed_pos = closed_pos.max(axis=0)
|
||||
closed_pos[closed_pos < 1000] = 60000
|
||||
min_closed_pos = closed_pos.min(axis=0)
|
||||
|
||||
print(f"{max_closed_pos=}")
|
||||
print(f"{min_closed_pos=}")
|
||||
|
||||
open_pos = np.array([max_open_pos, max_closed_pos]).max(axis=0)
|
||||
closed_pos = np.array([min_open_pos, min_closed_pos]).min(axis=0)
|
||||
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
for i, jname in enumerate(self.joint_names):
|
||||
if jname in [
|
||||
"thumb_0",
|
||||
"thumb_3",
|
||||
"index_2",
|
||||
"middle_2",
|
||||
"ring_2",
|
||||
"pinky_2",
|
||||
"index_0",
|
||||
]:
|
||||
tmp_pos = open_pos[i]
|
||||
open_pos[i] = closed_pos[i]
|
||||
closed_pos[i] = tmp_pos
|
||||
|
||||
print()
|
||||
print(f"{open_pos=}")
|
||||
print(f"{closed_pos=}")
|
||||
|
||||
homing_offset = [0] * len(self.joint_names)
|
||||
drive_mode = [0] * len(self.joint_names)
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.joint_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": open_pos,
|
||||
"end_pos": closed_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.joint_names,
|
||||
}
|
||||
|
||||
file_path = "examples/hopejr/settings/hand_calib.pkl"
|
||||
|
||||
if not os.path.exists(file_path):
|
||||
with open(file_path, "wb") as f:
|
||||
pickle.dump(calib_dict, f)
|
||||
print(f"Dictionary saved to {file_path}")
|
||||
|
||||
# return calib_dict
|
||||
self.set_calibration(calib_dict)
|
||||
|
||||
|
||||
|
||||
def set_calibration(self, calibration: dict[str, list]):
|
||||
self.calibration = calibration
|
||||
|
||||
def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
|
||||
"""Convert from unsigned int32 joint position range [0, 2**32[ to the universal float32 nominal degree range ]-180.0, 180.0[ with
|
||||
a "zero position" at 0 degree.
|
||||
|
||||
Note: We say "nominal degree range" since the motors can take values outside this range. For instance, 190 degrees, if the motor
|
||||
rotate more than a half a turn from the zero position. However, most motors can't rotate more than 180 degrees and will stay in this range.
|
||||
|
||||
Joints values are original in [0, 2**32[ (unsigned int32). Each motor are expected to complete a full rotation
|
||||
when given a goal position that is + or - their resolution. For instance, feetech xl330-m077 have a resolution of 4096, and
|
||||
at any position in their original range, let's say the position 56734, they complete a full rotation clockwise by moving to 60830,
|
||||
or anticlockwise by moving to 52638. The position in the original range is arbitrary and might change a lot between each motor.
|
||||
To harmonize between motors of the same model, different robots, or even models of different brands, we propose to work
|
||||
in the centered nominal degree range ]-180, 180[.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.motor_names
|
||||
|
||||
# Convert from unsigned int32 original range [0, 2**32] to signed float32 range
|
||||
values = values.astype(np.float32)
|
||||
|
||||
for i, name in enumerate(motor_names):
|
||||
calib_idx = self.calibration["motor_names"].index(name)
|
||||
calib_mode = self.calibration["calib_mode"][calib_idx]
|
||||
|
||||
if CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
|
||||
start_pos = self.calibration["start_pos"][calib_idx]
|
||||
end_pos = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
# Rescale the present position to a nominal range [0, 100] %,
|
||||
# useful for joints with linear motions like Aloha gripper
|
||||
values[i] = (values[i] - start_pos) / (end_pos - start_pos) * 100
|
||||
|
||||
if (values[i] < LOWER_BOUND_LINEAR) or (values[i] > UPPER_BOUND_LINEAR):
|
||||
if name == "pinky_1" and (values[i] < LOWER_BOUND_LINEAR):
|
||||
values[i] = end_pos
|
||||
else:
|
||||
msg = (
|
||||
f"Wrong motor position range detected for {name}. "
|
||||
f"Expected to be in nominal range of [0, 100] % (a full linear translation), "
|
||||
f"with a maximum range of [{LOWER_BOUND_LINEAR}, {UPPER_BOUND_LINEAR}] % to account for some imprecision during calibration, "
|
||||
f"but present value is {values[i]} %. "
|
||||
"This might be due to a cable connection issue creating an artificial jump in motor values. "
|
||||
"You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`"
|
||||
)
|
||||
print(msg)
|
||||
# raise JointOutOfRangeError(msg)
|
||||
|
||||
return values
|
||||
|
||||
# def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
|
||||
# """Inverse of `apply_calibration`."""
|
||||
# if motor_names is None:
|
||||
# motor_names = self.motor_names
|
||||
|
||||
# for i, name in enumerate(motor_names):
|
||||
# calib_idx = self.calibration["motor_names"].index(name)
|
||||
# calib_mode = self.calibration["calib_mode"][calib_idx]
|
||||
|
||||
# if CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
|
||||
# start_pos = self.calibration["start_pos"][calib_idx]
|
||||
# end_pos = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
# # Convert from nominal lnear range of [0, 100] % to
|
||||
# # actual motor range of values which can be arbitrary.
|
||||
# values[i] = values[i] / 100 * (end_pos - start_pos) + start_pos
|
||||
|
||||
# values = np.round(values).astype(np.int32)
|
||||
# return values
|
||||
|
||||
class EncoderReader:
|
||||
def __init__(self, serial_port="/dev/ttyUSB1", baud_rate=115200):
|
||||
self.serial_port = serial_port
|
||||
self.baud_rate = baud_rate
|
||||
self.serial = serial.Serial(self.serial_port, self.baud_rate, timeout=1)
|
||||
|
||||
# Start a background thread to continuously read from the serial port
|
||||
self.thread = threading.Thread(target=self.async_read, daemon=True)
|
||||
self.thread.start()
|
||||
|
||||
# Store the latest encoder reading in this dictionary
|
||||
self.last_d = {"encoder": 500}
|
||||
|
||||
def async_read(self):
|
||||
while True:
|
||||
# Read one line from serial
|
||||
line = self.serial.readline().decode("utf-8").strip()
|
||||
if line:
|
||||
try:
|
||||
val = int(line) # Parse the incoming line as integer
|
||||
self.last_d["encoder"] = val
|
||||
except ValueError:
|
||||
# If we couldn't parse it as an integer, just skip
|
||||
pass
|
||||
|
||||
def read(self):
|
||||
"""
|
||||
Returns the last encoder value that was read.
|
||||
"""
|
||||
return self.last_d["encoder"]
|
||||
|
||||
class Tac_Man:
|
||||
def __init__(self, serial_port="/dev/ttyUSB1", baud_rate=115200):
|
||||
self.serial_port = serial_port
|
||||
self.baud_rate = baud_rate
|
||||
self.serial = serial.Serial(self.serial_port, self.baud_rate, timeout=1)
|
||||
|
||||
# Start a background thread to continuously read from the serial port
|
||||
self.thread = threading.Thread(target=self.async_read, daemon=True)
|
||||
self.thread.start()
|
||||
|
||||
# Store the latest encoder readings in this list
|
||||
self.last_d = [0, 0, 0] # Default values for three readings
|
||||
|
||||
def async_read(self):
|
||||
while True:
|
||||
# Read one line from serial
|
||||
line = self.serial.readline().decode("utf-8").strip()
|
||||
if line:
|
||||
try:
|
||||
# Parse the incoming line as three comma-separated integers
|
||||
values = [int(val) for val in line.split(",")]
|
||||
if len(values) == 3: # Ensure we have exactly three values
|
||||
self.last_d = values
|
||||
except ValueError:
|
||||
# If parsing fails, skip this line
|
||||
pass
|
||||
|
||||
def read(self):
|
||||
"""
|
||||
Returns the last encoder values that were read as a list of three integers.
|
||||
"""
|
||||
return self.last_d
|
||||
111
examples/hopejr/notes
Normal file
111
examples/hopejr/notes
Normal file
@@ -0,0 +1,111 @@
|
||||
test and test4
|
||||
installed serial and opencv
|
||||
after pip install -e .
|
||||
pip install -e ".[feetech]"
|
||||
|
||||
robot.hand_bus.read("Present_Position")
|
||||
array([ 349, 799, 1000, 1004, 508, 503, 673, 608, 791, 390, 552,
|
||||
506, 600, 565, 428, 379], dtype=int32)
|
||||
|
||||
robot.hand_bus.write("Goal_Position",[349,799,500,500,508,503,673,608,791,390,552,506,600,565,428,379])
|
||||
|
||||
|
||||
robot.arm_bus.write("Goal_Position", [1825, 2045, 2010, 2035, 1414, 1800, 1615])
|
||||
robot.arm_bus.read("Present_Position")
|
||||
|
||||
robot.arm_bus.write("Goal_Position", [1500], ["elbow_flex"])
|
||||
robot.arm_bus.write("Goal_Position", [2000], ["wrist_yaw"])
|
||||
|
||||
ranges: [600-2300, 1500-2300, 1300-2800, 1000-2500, 600-2800,400-1700, 1300-2300]
|
||||
shoulder_up,
|
||||
shoulder forward,
|
||||
shoulder yaw,
|
||||
elbow_flex
|
||||
wrist_yaw,
|
||||
wrist_pitch,
|
||||
wrist_roll
|
||||
|
||||
COM18
|
||||
|
||||
C:/Users/Lenovo/AppData/Local/Programs/Python/Python310/python.exe c:/Users/Lenovo/Documents/HuggingFace/lerobot/examples/test4.py
|
||||
|
||||
wrist pitch is fucked
|
||||
|
||||
|
||||
so the wrist motor was fucked
|
||||
and we didnt know which one it was because
|
||||
if the chain hjas an issue we dont know how to locate whihc motor is at fault (cables are hard to remove)
|
||||
|
||||
to calibrate:
|
||||
|
||||
python lerobot/scripts/configure_motor.py \
|
||||
--port /dev/ttyACM1 \
|
||||
--brand feetech \
|
||||
--model sts3250 \
|
||||
--baudrate 1000000 \
|
||||
--ID 2
|
||||
|
||||
|
||||
python lerobot/scripts/configure_motor.py \
|
||||
--port /dev/ttyACM0 \
|
||||
--brand feetech \
|
||||
--model sm8512bl \
|
||||
--baudrate 115200 \
|
||||
--ID 1
|
||||
|
||||
python lerobot/scripts/configure_motor.py \
|
||||
--port /dev/ttyACM1 \
|
||||
--brand feetech \
|
||||
--model scs0009 \
|
||||
--baudrate 1000000 \
|
||||
--ID 30
|
||||
|
||||
why are the motors beeping?
|
||||
|
||||
|
||||
#interpolate between start and end pos
|
||||
robot.arm_bus.write("Goal_Position", [int((i*interp+j*(1-interp))) for i, j in zip(arm_calibration["start_pos"], arm_calibration["end_pos"])])
|
||||
|
||||
control maj M to look for stuff
|
||||
|
||||
set calibration is useless
|
||||
|
||||
move the joints to that position too
|
||||
|
||||
|
||||
/home/nepyope/Desktop/HuggingFace/lerobot/lerobot/common/robot_devices/motors/feetech.py
|
||||
|
||||
theres clearly some lag, and its probably because of an out of range issue
|
||||
|
||||
|
||||
# hand_calibration = robot.get_hand_calibration()
|
||||
# joint = input("Enter joint name: ")
|
||||
# j1 = f"{joint}_pinky_side"
|
||||
# j2 = f"{joint}_thumb_side"
|
||||
# encoder = EncoderReader("/dev/ttyUSB0", 115200)
|
||||
# start_angle1 = hand_calibration['start_pos'][hand_calibration['motor_names'].index(j1)]
|
||||
# end_angle1 = hand_calibration['end_pos'][hand_calibration['motor_names'].index(j1)]
|
||||
# start_angle2 = hand_calibration['start_pos'][hand_calibration['motor_names'].index(j2)]
|
||||
# end_angle2 = hand_calibration['end_pos'][hand_calibration['motor_names'].index(j2)]
|
||||
# # start_angle = shoulder_calibration['start_pos'][shoulder_calibration['motor_names'].index(joint)]
|
||||
# # end_angle = shoulder_calibration['end_pos'][shoulder_calibration['motor_names'].index(joint)]
|
||||
# while True:
|
||||
# angle1 = int(start_angle1+(end_angle1-start_angle1)*encoder.read()/1000)
|
||||
# angle2 = int(start_angle2+(end_angle2-start_angle2)*encoder.read()/1000)
|
||||
|
||||
# robot.hand_bus.write("Goal_Position",angle1, [j1])
|
||||
# robot.hand_bus.write("Goal_Position",angle2, [j2])
|
||||
# print(angle1, angle2)
|
||||
# time.sleep(0.1)
|
||||
|
||||
# print(robot.hand_bus.find_motor_indices())
|
||||
# exit()
|
||||
|
||||
|
||||
|
||||
maybe divide the 3.3 by 2 and use that as a reference
|
||||
|
||||
https://jlcpcb.com/partdetail/23831236-OPA340UA_UMW/C22365307
|
||||
|
||||
|
||||
-90 is good for the op amp
|
||||
52
examples/hopejr/read.cs
Normal file
52
examples/hopejr/read.cs
Normal file
@@ -0,0 +1,52 @@
|
||||
#include <Arduino.h>
|
||||
|
||||
// Define multiplexer input pins
|
||||
#define S0 5
|
||||
#define S1 6
|
||||
#define S2 8
|
||||
#define S3 7
|
||||
#define SENSOR_INPUT 4
|
||||
|
||||
#define SENSOR_COUNT 16
|
||||
|
||||
int rawVals[SENSOR_COUNT];
|
||||
|
||||
void measureRawValues() {
|
||||
for (uint8_t i = 0; i < SENSOR_COUNT; i++) {
|
||||
digitalWrite(S0, (i & 0b1) ^ 0b1);;
|
||||
digitalWrite(S1, (i >> 1 & 0b1) ^ 0b1);;
|
||||
digitalWrite(S2, (i >> 2 & 0b1) ^ 0b1);;
|
||||
digitalWrite(S3, i >> 3 & 0b1);
|
||||
delay(1);
|
||||
|
||||
rawVals[i] = analogRead(SENSOR_INPUT);
|
||||
}
|
||||
}
|
||||
|
||||
void printRawValues() {
|
||||
for (uint8_t i = 0; i < SENSOR_COUNT; i++) {
|
||||
Serial.print(rawVals[i]);
|
||||
if (i < SENSOR_COUNT - 1) Serial.print(" ");
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
|
||||
pinMode(S0, OUTPUT);
|
||||
pinMode(S1, OUTPUT);
|
||||
pinMode(S2, OUTPUT);
|
||||
pinMode(S3, OUTPUT);
|
||||
|
||||
digitalWrite(S0, LOW);
|
||||
digitalWrite(S1, LOW);
|
||||
digitalWrite(S2, LOW);
|
||||
digitalWrite(S3, LOW);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
measureRawValues();
|
||||
printRawValues();
|
||||
delay(1);
|
||||
}
|
||||
52
examples/hopejr/read_arm.cs
Normal file
52
examples/hopejr/read_arm.cs
Normal file
@@ -0,0 +1,52 @@
|
||||
#include <Arduino.h>
|
||||
|
||||
// Define multiplexer input pins
|
||||
#define S0 5
|
||||
#define S1 6
|
||||
#define S2 8
|
||||
#define S3 7
|
||||
#define SENSOR_INPUT 4
|
||||
|
||||
#define SENSOR_COUNT 16
|
||||
|
||||
int rawVals[SENSOR_COUNT];
|
||||
|
||||
void measureRawValues() {
|
||||
for (uint8_t i = 0; i < SENSOR_COUNT; i++) {
|
||||
digitalWrite(S0, (i & 0b1) ^ 0b1);;
|
||||
digitalWrite(S1, (i >> 1 & 0b1) ^ 0b1);;
|
||||
digitalWrite(S2, (i >> 2 & 0b1) ^ 0b1);;
|
||||
digitalWrite(S3, i >> 3 & 0b1);
|
||||
delay(1);
|
||||
|
||||
rawVals[i] = analogRead(SENSOR_INPUT);
|
||||
}
|
||||
}
|
||||
|
||||
void printRawValues() {
|
||||
for (uint8_t i = 0; i < SENSOR_COUNT; i++) {
|
||||
Serial.print(rawVals[i]);
|
||||
if (i < SENSOR_COUNT - 1) Serial.print(" ");
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
|
||||
pinMode(S0, OUTPUT);
|
||||
pinMode(S1, OUTPUT);
|
||||
pinMode(S2, OUTPUT);
|
||||
pinMode(S3, OUTPUT);
|
||||
|
||||
digitalWrite(S0, LOW);
|
||||
digitalWrite(S1, LOW);
|
||||
digitalWrite(S2, LOW);
|
||||
digitalWrite(S3, LOW);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
measureRawValues();
|
||||
printRawValues();
|
||||
delay(1);
|
||||
}
|
||||
52
examples/hopejr/read_glove.cs
Normal file
52
examples/hopejr/read_glove.cs
Normal file
@@ -0,0 +1,52 @@
|
||||
#include <Arduino.h>
|
||||
|
||||
// Define multiplexer input pins
|
||||
#define S0 5
|
||||
#define S1 6
|
||||
#define S2 8
|
||||
#define S3 7
|
||||
#define SENSOR_INPUT 4
|
||||
|
||||
#define SENSOR_COUNT 16
|
||||
|
||||
int rawVals[SENSOR_COUNT];
|
||||
|
||||
void measureRawValues() {
|
||||
for (uint8_t i = 0; i < SENSOR_COUNT; i++) {
|
||||
digitalWrite(S0, (i & 0b1) ^ 0b1);;
|
||||
digitalWrite(S1, (i >> 1 & 0b1) ^ 0b1);;
|
||||
digitalWrite(S2, (i >> 2 & 0b1) ^ 0b1);;
|
||||
digitalWrite(S3, i >> 3 & 0b1);
|
||||
delay(1);
|
||||
|
||||
rawVals[i] = analogRead(SENSOR_INPUT);
|
||||
}
|
||||
}
|
||||
|
||||
void printRawValues() {
|
||||
for (uint8_t i = 0; i < SENSOR_COUNT; i++) {
|
||||
Serial.print(rawVals[i]);
|
||||
if (i < SENSOR_COUNT - 1) Serial.print(" ");
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
|
||||
pinMode(S0, OUTPUT);
|
||||
pinMode(S1, OUTPUT);
|
||||
pinMode(S2, OUTPUT);
|
||||
pinMode(S3, OUTPUT);
|
||||
|
||||
digitalWrite(S0, LOW);
|
||||
digitalWrite(S1, LOW);
|
||||
digitalWrite(S2, LOW);
|
||||
digitalWrite(S3, LOW);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
measureRawValues();
|
||||
printRawValues();
|
||||
delay(1);
|
||||
}
|
||||
BIN
examples/hopejr/rolling/input.gif
Normal file
BIN
examples/hopejr/rolling/input.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 75 KiB |
BIN
examples/hopejr/rolling/result.png
Normal file
BIN
examples/hopejr/rolling/result.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 3.2 KiB |
74
examples/hopejr/rolling/test.py
Normal file
74
examples/hopejr/rolling/test.py
Normal file
@@ -0,0 +1,74 @@
|
||||
import numpy as np
|
||||
from PIL import Image, ImageSequence
|
||||
|
||||
def coalesce_gif(im):
|
||||
"""
|
||||
Attempt to coalesce frames so each one is a full image.
|
||||
This handles many (though not all) partial-frame GIFs.
|
||||
"""
|
||||
# Convert mode to RGBA
|
||||
im = im.convert("RGBA")
|
||||
|
||||
# Prepare an accumulator the same size as the base frame
|
||||
base = Image.new("RGBA", im.size)
|
||||
frames = []
|
||||
|
||||
# Go through each frame
|
||||
for frame in ImageSequence.Iterator(im):
|
||||
base.alpha_composite(frame.convert("RGBA"))
|
||||
frames.append(base.copy())
|
||||
return frames
|
||||
|
||||
def remove_white_make_black(arr, threshold=250):
|
||||
"""
|
||||
For each pixel in arr (H,W,3), if R,G,B >= threshold, set to black (0,0,0).
|
||||
This effectively 'removes' white so it won't affect the sum.
|
||||
"""
|
||||
mask = (arr[..., 0] >= threshold) & \
|
||||
(arr[..., 1] >= threshold) & \
|
||||
(arr[..., 2] >= threshold)
|
||||
arr[mask] = 0 # set to black
|
||||
|
||||
def main():
|
||||
# Load the animated GIF
|
||||
gif = Image.open("input.gif")
|
||||
|
||||
# Coalesce frames so each is full-size
|
||||
frames = coalesce_gif(gif)
|
||||
if not frames:
|
||||
print("No frames found!")
|
||||
return
|
||||
|
||||
# Convert first frame to RGB array, initialize sum array
|
||||
w, h = frames[0].size
|
||||
sum_array = np.zeros((h, w, 3), dtype=np.uint16) # 16-bit to avoid overflow
|
||||
|
||||
# For each frame:
|
||||
for f in frames:
|
||||
# Convert to RGB
|
||||
rgb = f.convert("RGB")
|
||||
arr = np.array(rgb, dtype=np.uint16) # shape (H, W, 3)
|
||||
|
||||
# Remove near-white by setting it to black
|
||||
remove_white_make_black(arr, threshold=250)
|
||||
|
||||
# Add to sum_array, then clamp to 255
|
||||
sum_array += arr
|
||||
np.clip(sum_array, 0, 255, out=sum_array)
|
||||
|
||||
# Convert sum_array back to 8-bit
|
||||
sum_array = sum_array.astype(np.uint8)
|
||||
|
||||
# Finally, any pixel that stayed black is presumably "empty," so we set it to white
|
||||
black_mask = (sum_array[..., 0] == 0) & \
|
||||
(sum_array[..., 1] == 0) & \
|
||||
(sum_array[..., 2] == 0)
|
||||
sum_array[black_mask] = [255, 255, 255]
|
||||
|
||||
# Create final Pillow image
|
||||
final_img = Image.fromarray(sum_array, mode="RGB")
|
||||
final_img.save("result.png")
|
||||
print("Done! Wrote result.png.")
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
31
examples/hopejr/scstest.py
Normal file
31
examples/hopejr/scstest.py
Normal file
@@ -0,0 +1,31 @@
|
||||
import time
|
||||
import serial
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
# Import the motor bus (adjust the import path as needed)
|
||||
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
|
||||
|
||||
def main():
|
||||
|
||||
bus = FeetechMotorsBus(
|
||||
port="/dev/ttyACM0",
|
||||
motors={
|
||||
"leader": [1, "scs0009"],
|
||||
"follower": [2, "scs0009"]
|
||||
},
|
||||
protocol_version=1,
|
||||
group_sync_read=False
|
||||
)
|
||||
bus.connect()
|
||||
print(bus.read("Present_Position", "leader"))
|
||||
bus.write("Torque_Enable", 0, ["leader"])
|
||||
bus.write("Torque_Enable", 1, ["follower"])
|
||||
for i in range(10000000):
|
||||
time.sleep(0.01)
|
||||
pos = bus.read("Present_Position", "leader")
|
||||
if pos[0] > 1 and pos[0] < 1022:
|
||||
bus.write("Goal_Position", pos, ["follower"])
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
BIN
examples/hopejr/settings/arm_calib.pkl
Normal file
BIN
examples/hopejr/settings/arm_calib.pkl
Normal file
Binary file not shown.
15
examples/hopejr/settings/config.yaml
Normal file
15
examples/hopejr/settings/config.yaml
Normal file
@@ -0,0 +1,15 @@
|
||||
robot:
|
||||
arm_bus:
|
||||
Lock: 0
|
||||
Torque_Limit: 1000
|
||||
Protection_Current: 500
|
||||
Over_Current_Protection_Time: 10
|
||||
Max_Torque_Limit: 1000
|
||||
Overload_Torque: 40 # Play around with this
|
||||
Protection_Time: 1000 # When does it kick in?
|
||||
Protective_Torque: 1
|
||||
Maximum_Acceleration: 100
|
||||
Torque_Enable: 1
|
||||
Acceleration: 30
|
||||
hand_bus:
|
||||
Acceleration: 100
|
||||
BIN
examples/hopejr/settings/hand_calib.pkl
Normal file
BIN
examples/hopejr/settings/hand_calib.pkl
Normal file
Binary file not shown.
61
examples/hopejr/speedtest.py
Normal file
61
examples/hopejr/speedtest.py
Normal file
@@ -0,0 +1,61 @@
|
||||
import time
|
||||
import numpy as np
|
||||
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
|
||||
|
||||
def main():
|
||||
# Instantiate the bus for a single motor on port /dev/ttyACM0.
|
||||
arm_bus = FeetechMotorsBus(
|
||||
port="/dev/ttyACM0",
|
||||
motors={"wrist_pitch": [1, "scs0009"]},
|
||||
protocol_version=1,
|
||||
group_sync_read=False, # using individual read calls
|
||||
)
|
||||
arm_bus.connect()
|
||||
|
||||
# Configure continuous rotation mode.
|
||||
arm_bus.write("Min_Angle_Limit", 0)
|
||||
arm_bus.write("Max_Angle_Limit", 1024)
|
||||
|
||||
# For model "scs0009", the raw reading runs from 0 to ~1022.
|
||||
resolution_max = 1022 # use 1022 as the effective maximum raw value
|
||||
|
||||
# Read initial raw motor position.
|
||||
prev_raw = arm_bus.read("Present_Position", ["wrist_pitch"])[0]
|
||||
print("Initial raw position:", prev_raw)
|
||||
|
||||
# Command continuous rotation.
|
||||
arm_bus.write("Goal_Position", 1024)
|
||||
|
||||
# Initialize loop counter.
|
||||
loops_count = 0
|
||||
target_effective = 1780
|
||||
tolerance = 50 # stop when effective position is within ±50 of target
|
||||
|
||||
while True:
|
||||
current_raw = arm_bus.read("Present_Position", ["wrist_pitch"])[0]
|
||||
|
||||
# Detect wrap-around: if the previous reading was near the top (>= 1020)
|
||||
# and current reading is low (< 100), count that as one full loop.
|
||||
if prev_raw >= 1020 and current_raw < 100:
|
||||
loops_count += 1
|
||||
print(f"Wrap detected! loops_count increased to {loops_count}")
|
||||
|
||||
# Compute the effective position.
|
||||
effective_position = loops_count * resolution_max + current_raw
|
||||
print(f"Raw position: {current_raw} | loops_count: {loops_count} | Effective position: {effective_position}")
|
||||
|
||||
# Check if effective position is within tolerance of the target.
|
||||
if abs(effective_position - target_effective) <= tolerance:
|
||||
# Command motor to stop by setting the current raw position as goal.
|
||||
arm_bus.write("Goal_Position", current_raw)
|
||||
print(f"Target reached (effective position: {effective_position}). Stopping motor at raw position {current_raw}.")
|
||||
break
|
||||
|
||||
prev_raw = current_raw
|
||||
time.sleep(0.01) # 10 ms delay
|
||||
|
||||
time.sleep(1)
|
||||
arm_bus.disconnect()
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
226
examples/hopejr/teleop.py
Normal file
226
examples/hopejr/teleop.py
Normal file
@@ -0,0 +1,226 @@
|
||||
from follower import HopeJuniorRobot
|
||||
from leader import (
|
||||
HomonculusArm,
|
||||
HomonculusGlove,
|
||||
EncoderReader
|
||||
)
|
||||
from visualizer import value_to_color
|
||||
|
||||
import time
|
||||
import numpy as np
|
||||
|
||||
import pickle
|
||||
import pygame
|
||||
import typer
|
||||
|
||||
def main(
|
||||
calibrate_glove: bool = typer.Option(False, "--calibrate-glove", help="Calibrate the glove"),
|
||||
calibrate_exoskeleton: bool = typer.Option(False, "--calibrate-exoskeleton", help="Calibrate the exoskeleton"),
|
||||
freeze_fingers: bool = typer.Option(False, "--freeze-fingers", help="Freeze the fingers"),
|
||||
freeze_arm: bool = typer.Option(False, "--freeze-arm", help="Freeze the arm")):
|
||||
show_loads: bool = typer.Option(False, "--show-loads", help="Show the loads in a GUI")
|
||||
robot = HopeJuniorRobot()
|
||||
|
||||
|
||||
robot.connect_hand()
|
||||
robot.connect_arm()
|
||||
#read pos
|
||||
print(robot.hand_bus.read("Present_Position"))
|
||||
print(robot.arm_bus.read("Present_Position", "shoulder_pitch"))
|
||||
print(robot.arm_bus.read("Present_Position",["shoulder_yaw","shoulder_roll","elbow_flex","wrist_roll","wrist_yaw","wrist_pitch"]))
|
||||
#robot.arm_bus.write("Goal_Position", robot.arm_calib_dict["start_pos"][0]*1 +robot.arm_calib_dict["end_pos"][0]*0, ["wrist_roll"])
|
||||
for i in range(10):
|
||||
time.sleep(0.1)
|
||||
robot.apply_arm_config('examples/hopejr/settings/config.yaml')
|
||||
|
||||
# #calibrate arm
|
||||
arm_calibration = robot.get_arm_calibration()
|
||||
exoskeleton = HomonculusArm(serial_port="/dev/tty.usbmodem1201")
|
||||
|
||||
|
||||
if calibrate_exoskeleton:
|
||||
exoskeleton.run_calibration(robot)
|
||||
|
||||
file_path = "examples/hopejr/settings/arm_calib.pkl"
|
||||
with open(file_path, "rb") as f:
|
||||
calib_dict = pickle.load(f)
|
||||
print("Loaded dictionary:", calib_dict)
|
||||
exoskeleton.set_calibration(calib_dict)
|
||||
|
||||
#calibrate hand
|
||||
hand_calibration = robot.get_hand_calibration()
|
||||
glove = HomonculusGlove(serial_port = "/dev/tty.usbmodem1101")
|
||||
|
||||
if calibrate_glove:
|
||||
glove.run_calibration()
|
||||
|
||||
file_path = "examples/hopejr/settings/hand_calib.pkl"
|
||||
with open(file_path, "rb") as f:
|
||||
calib_dict = pickle.load(f)
|
||||
print("Loaded dictionary:", calib_dict)
|
||||
glove.set_calibration(calib_dict)
|
||||
|
||||
robot.hand_bus.set_calibration(hand_calibration)
|
||||
robot.arm_bus.set_calibration(arm_calibration)
|
||||
|
||||
# Initialize Pygame
|
||||
# pygame.init()
|
||||
|
||||
# # Set up the display
|
||||
# screen = pygame.display.set_mode((800, 600))
|
||||
|
||||
# pygame.display.set_caption("Robot Hand Visualization")
|
||||
|
||||
|
||||
# # Create hand structure with 16 squares and initial values
|
||||
# hand_components = []
|
||||
|
||||
# # Add thumb (4 squares in diamond shape)
|
||||
# thumb_positions = [
|
||||
# (150, 300), (125, 350),
|
||||
# (175, 350), (150, 400)
|
||||
# ]
|
||||
# for pos in thumb_positions:
|
||||
# hand_components.append({"pos": pos, "value": 0})
|
||||
|
||||
# # Add fingers (4 fingers with 3 squares each in vertical lines)
|
||||
# finger_positions = [
|
||||
# (200, 100), # Index
|
||||
# (250, 100), # Middle
|
||||
# (300, 100), # Ring
|
||||
# (350, 100) # Pinky
|
||||
# ]
|
||||
|
||||
# for x, y in finger_positions:
|
||||
# for i in range(3):
|
||||
# hand_components.append({"pos": (x, y + i * 50), "value": 0})
|
||||
|
||||
for i in range(1000000000000000):
|
||||
robot.apply_arm_config('examples/hopejr/settings/config.yaml')
|
||||
#robot.arm_bus.write("Acceleration", 50, "shoulder_yaw")
|
||||
joint_names = ["shoulder_pitch", "shoulder_yaw", "shoulder_roll", "elbow_flex", "wrist_roll", "wrist_yaw", "wrist_pitch"]
|
||||
#only wrist roll
|
||||
#joint_names = ["shoulder_pitch"]
|
||||
joint_values = exoskeleton.read(motor_names=joint_names)
|
||||
|
||||
#joint_values = joint_values.round().astype(int)
|
||||
joint_dict = {k: v for k, v in zip(joint_names, joint_values, strict=False)}
|
||||
|
||||
motor_values = []
|
||||
motor_names = []
|
||||
motor_names += ["shoulder_pitch", "shoulder_yaw", "shoulder_roll", "elbow_flex", "wrist_roll", "wrist_yaw", "wrist_pitch"]
|
||||
#motor_names += ["shoulder_pitch"]
|
||||
motor_values += [joint_dict[name] for name in motor_names]
|
||||
#remove 50 from shoulder_roll
|
||||
#motor_values += [joint_dict[name] for name in motor_names]
|
||||
|
||||
motor_values = np.array(motor_values)
|
||||
motor_values = np.clip(motor_values, 0, 100)
|
||||
|
||||
print(motor_names, motor_values)
|
||||
if not freeze_arm:
|
||||
robot.arm_bus.write("Goal_Position", motor_values, motor_names)
|
||||
|
||||
if not freeze_fingers:#include hand
|
||||
hand_joint_names = []
|
||||
hand_joint_names += ["thumb_3", "thumb_2", "thumb_1", "thumb_0"]#, "thumb_3"]
|
||||
hand_joint_names += ["index_0", "index_1", "index_2"]
|
||||
hand_joint_names += ["middle_0", "middle_1", "middle_2"]
|
||||
hand_joint_names += ["ring_0", "ring_1", "ring_2"]
|
||||
hand_joint_names += ["pinky_0", "pinky_1", "pinky_2"]
|
||||
hand_joint_values = glove.read(hand_joint_names)
|
||||
hand_joint_values = hand_joint_values.round( ).astype(int)
|
||||
hand_joint_dict = {k: v for k, v in zip(hand_joint_names, hand_joint_values, strict=False)}
|
||||
|
||||
hand_motor_values = []
|
||||
hand_motor_names = []
|
||||
|
||||
# Thumb
|
||||
hand_motor_names += ["thumb_basel_rotation", "thumb_mcp", "thumb_pip", "thumb_dip"]#, "thumb_MCP"]
|
||||
hand_motor_values += [
|
||||
hand_joint_dict["thumb_3"],
|
||||
hand_joint_dict["thumb_2"],
|
||||
hand_joint_dict["thumb_1"],
|
||||
hand_joint_dict["thumb_0"]
|
||||
]
|
||||
|
||||
# # Index finger
|
||||
index_splay = 0.1
|
||||
hand_motor_names += ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
hand_motor_values += [
|
||||
hand_joint_dict["index_2"],
|
||||
(100 - hand_joint_dict["index_0"]) * index_splay + hand_joint_dict["index_1"] * (1 - index_splay),
|
||||
hand_joint_dict["index_0"] * index_splay + hand_joint_dict["index_1"] * (1 - index_splay),
|
||||
]
|
||||
|
||||
# Middle finger
|
||||
middle_splay = 0.1
|
||||
hand_motor_names += ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
hand_motor_values += [
|
||||
hand_joint_dict["middle_2"],
|
||||
hand_joint_dict["middle_0"] * middle_splay + hand_joint_dict["middle_1"] * (1 - middle_splay),
|
||||
(100 - hand_joint_dict["middle_0"]) * middle_splay + hand_joint_dict["middle_1"] * (1 - middle_splay),
|
||||
]
|
||||
|
||||
# # Ring finger
|
||||
ring_splay = 0.1
|
||||
hand_motor_names += ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
hand_motor_values += [
|
||||
hand_joint_dict["ring_2"],
|
||||
(100 - hand_joint_dict["ring_0"]) * ring_splay + hand_joint_dict["ring_1"] * (1 - ring_splay),
|
||||
hand_joint_dict["ring_0"] * ring_splay + hand_joint_dict["ring_1"] * (1 - ring_splay),
|
||||
]
|
||||
|
||||
# # Pinky finger
|
||||
pinky_splay = -.1
|
||||
hand_motor_names += ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
hand_motor_values += [
|
||||
hand_joint_dict["pinky_2"],
|
||||
hand_joint_dict["pinky_0"] * pinky_splay + hand_joint_dict["pinky_1"] * (1 - pinky_splay),
|
||||
(100 - hand_joint_dict["pinky_0"]) * pinky_splay + hand_joint_dict["pinky_1"] * (1 - pinky_splay),
|
||||
]
|
||||
|
||||
hand_motor_values = np.array(hand_motor_values)
|
||||
hand_motor_values = np.clip(hand_motor_values, 0, 100)
|
||||
robot.hand_bus.write("Acceleration", 255, hand_motor_names)
|
||||
robot.hand_bus.write("Goal_Position", hand_motor_values, hand_motor_names)
|
||||
|
||||
# if i%20==0 and i > 100:
|
||||
# try:
|
||||
# loads = robot.hand_bus.read("Present_Load")
|
||||
# for i, comp in enumerate(hand_components):
|
||||
# # Wave oscillates between 0 and 2024:
|
||||
# # Center (1012) +/- 1012 * sin(...)
|
||||
# comp["value"] = loads[i]
|
||||
# except:
|
||||
# pass
|
||||
|
||||
|
||||
time.sleep(0.01)
|
||||
|
||||
# for event in pygame.event.get():
|
||||
# if event.type == pygame.QUIT:
|
||||
# robot.hand_bus.disconnect()
|
||||
# robot.arm_bus.disconnect()
|
||||
# exit()
|
||||
# # Check for user pressing 'q' to quit
|
||||
# if event.type == pygame.KEYDOWN:
|
||||
# if event.key == pygame.K_q:
|
||||
# robot.hand_bus.disconnect()
|
||||
# robot.arm_bus.disconnect()
|
||||
# exit()
|
||||
|
||||
# # Draw background
|
||||
# screen.fill((0, 0, 0)) # Black background
|
||||
|
||||
# # Draw hand components
|
||||
# for comp in hand_components:
|
||||
# x, y = comp["pos"]
|
||||
# color = value_to_color(comp["value"])
|
||||
# pygame.draw.rect(screen, color, (x, y, 30, 30))
|
||||
|
||||
# pygame.display.flip()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
typer.run(main)
|
||||
135
examples/hopejr/teleop_stats/asd.py
Normal file
135
examples/hopejr/teleop_stats/asd.py
Normal file
@@ -0,0 +1,135 @@
|
||||
import serial
|
||||
import threading
|
||||
import time
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
# Thread function to read from a serial port continuously until stop_event is set.
|
||||
def read_serial(port, baudrate, stop_event, data_list):
|
||||
try:
|
||||
ser = serial.Serial(port, baudrate, timeout=1)
|
||||
except Exception as e:
|
||||
print(f"Error opening {port}: {e}")
|
||||
return
|
||||
|
||||
while not stop_event.is_set():
|
||||
try:
|
||||
line = ser.readline().decode('utf-8').strip()
|
||||
except Exception as e:
|
||||
print(f"Decode error on {port}: {e}")
|
||||
continue
|
||||
|
||||
if line:
|
||||
try:
|
||||
# Split the line into integer values.
|
||||
values = [int(x) for x in line.split()]
|
||||
# For ACM1, ignore the extra value if present.
|
||||
if len(values) >= 16:
|
||||
if len(values) > 16:
|
||||
values = values[:16]
|
||||
# Save the timestamp (relative to start) with the sensor readings.
|
||||
timestamp = time.time()
|
||||
data_list.append((timestamp, values))
|
||||
except Exception as e:
|
||||
print(f"Error parsing line from {port}: '{line}' -> {e}")
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
# --- Configuration ---
|
||||
# Set your serial port names here (adjust for your system)
|
||||
acm0_port = "/dev/ttyACM0" # Example for Linux (or "COM3" on Windows)
|
||||
acm1_port = "/dev/ttyACM1" # Example for Linux (or "COM4" on Windows)
|
||||
baudrate = 115200
|
||||
|
||||
# Data storage for each device:
|
||||
data_acm0 = [] # Will hold tuples of (timestamp, [16 sensor values])
|
||||
data_acm1 = []
|
||||
|
||||
# Event to signal threads to stop reading.
|
||||
stop_event = threading.Event()
|
||||
|
||||
# Create and start reader threads.
|
||||
thread_acm0 = threading.Thread(target=read_serial, args=(acm0_port, baudrate, stop_event, data_acm0))
|
||||
thread_acm1 = threading.Thread(target=read_serial, args=(acm1_port, baudrate, stop_event, data_acm1))
|
||||
thread_acm0.start()
|
||||
thread_acm1.start()
|
||||
|
||||
# Record data for 10 seconds.
|
||||
record_duration = 10 # seconds
|
||||
start_time = time.time()
|
||||
time.sleep(record_duration)
|
||||
stop_event.set() # signal threads to stop
|
||||
|
||||
# Wait for both threads to finish.
|
||||
thread_acm0.join()
|
||||
thread_acm1.join()
|
||||
print("Finished recording.")
|
||||
|
||||
# --- Process the Data ---
|
||||
# Convert lists of (timestamp, values) to numpy arrays.
|
||||
# Compute time relative to the start of the recording.
|
||||
times_acm0 = np.array([t - start_time for t, _ in data_acm0])
|
||||
sensor_acm0 = np.array([vals for _, vals in data_acm0]) # shape (N0, 16)
|
||||
|
||||
times_acm1 = np.array([t - start_time for t, _ in data_acm1])
|
||||
sensor_acm1 = np.array([vals for _, vals in data_acm1]) # shape (N1, 16)
|
||||
|
||||
# --- Plot 1: Overlapping Time Series ---
|
||||
plt.figure(figsize=(12, 8))
|
||||
# Plot each sensor from ACM0 in red.
|
||||
for i in range(16):
|
||||
plt.plot(times_acm0, sensor_acm0[:, i], color='red', alpha=0.7,
|
||||
label='ACM0 Sensor 1' if i == 0 else None)
|
||||
# Plot each sensor from ACM1 in blue.
|
||||
for i in range(16):
|
||||
plt.plot(times_acm1, sensor_acm1[:, i], color='blue', alpha=0.7,
|
||||
label='ACM1 Sensor 1' if i == 0 else None)
|
||||
plt.xlabel("Time (s)")
|
||||
plt.ylabel("Sensor Reading")
|
||||
plt.title("Overlapping Sensor Readings (ACM0 in Red, ACM1 in Blue)")
|
||||
plt.legend()
|
||||
plt.tight_layout()
|
||||
plt.savefig("overlapping_sensor_readings.png", dpi=300)
|
||||
plt.close()
|
||||
print("Saved overlapping_sensor_readings.png")
|
||||
|
||||
# --- Plot 2: Variance of Noise for Each Sensor ---
|
||||
# Compute variance (over time) for each sensor channel.
|
||||
variance_acm0 = np.var(sensor_acm0, axis=0)
|
||||
variance_acm1 = np.var(sensor_acm1, axis=0)
|
||||
sensor_numbers = np.arange(1, 17)
|
||||
bar_width = 0.35
|
||||
|
||||
plt.figure(figsize=(12, 6))
|
||||
plt.bar(sensor_numbers - bar_width/2, variance_acm0, bar_width, color='red', label='ACM0')
|
||||
plt.bar(sensor_numbers + bar_width/2, variance_acm1, bar_width, color='blue', label='ACM1')
|
||||
plt.xlabel("Sensor Number")
|
||||
plt.ylabel("Variance")
|
||||
plt.title("Noise Variance per Sensor")
|
||||
plt.xticks(sensor_numbers)
|
||||
plt.legend()
|
||||
plt.tight_layout()
|
||||
plt.savefig("sensor_variance.png", dpi=300)
|
||||
plt.close()
|
||||
print("Saved sensor_variance.png")
|
||||
|
||||
# --- Plot 3: Difference Between ACM0 and ACM1 Readings ---
|
||||
# Since the two devices may not sample at exactly the same time,
|
||||
# we interpolate ACM1's data onto ACM0's time base for each sensor.
|
||||
plt.figure(figsize=(12, 8))
|
||||
for i in range(16):
|
||||
if len(times_acm1) > 1 and len(times_acm0) > 1:
|
||||
interp_acm1 = np.interp(times_acm0, times_acm1, sensor_acm1[:, i])
|
||||
diff = sensor_acm0[:, i] - interp_acm1
|
||||
plt.plot(times_acm0, diff, label=f"Sensor {i+1}")
|
||||
plt.xlabel("Time (s)")
|
||||
plt.ylabel("Difference (ACM0 - ACM1)")
|
||||
plt.title("Difference in Sensor Readings")
|
||||
plt.legend(fontsize='small', ncol=2)
|
||||
plt.tight_layout()
|
||||
plt.savefig("sensor_differences.png", dpi=300)
|
||||
plt.close()
|
||||
print("Saved sensor_differences.png")
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
BIN
examples/hopejr/teleop_stats/overlapping_sensor_readings.png
Normal file
BIN
examples/hopejr/teleop_stats/overlapping_sensor_readings.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.5 MiB |
BIN
examples/hopejr/teleop_stats/sensor_differences.png
Normal file
BIN
examples/hopejr/teleop_stats/sensor_differences.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.3 MiB |
BIN
examples/hopejr/teleop_stats/sensor_variance.png
Normal file
BIN
examples/hopejr/teleop_stats/sensor_variance.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 87 KiB |
84
examples/hopejr/teleopp.py
Normal file
84
examples/hopejr/teleopp.py
Normal file
@@ -0,0 +1,84 @@
|
||||
import time
|
||||
import serial
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
# Import the motor bus (adjust the import path as needed)
|
||||
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
|
||||
|
||||
def main():
|
||||
# -------------------------------
|
||||
# Setup the motor bus (ACM0)
|
||||
# -------------------------------
|
||||
arm_bus = FeetechMotorsBus(
|
||||
port="/dev/ttyACM0",
|
||||
motors={
|
||||
"wrist_pitch": [7, "sts3215"],
|
||||
},
|
||||
protocol_version=0,
|
||||
)
|
||||
arm_bus.connect()
|
||||
|
||||
# -------------------------------
|
||||
# Setup the serial connection for sensor (ACM1)
|
||||
# -------------------------------
|
||||
try:
|
||||
ser = serial.Serial("/dev/ttyACM1", 115200, timeout=1)
|
||||
except Exception as e:
|
||||
print(f"Error opening serial port /dev/ttyACM1: {e}")
|
||||
return
|
||||
|
||||
# Lists to store the motor positions and sensor values.
|
||||
positions = []
|
||||
sensor_values = []
|
||||
|
||||
# -------------------------------
|
||||
# Loop: move motor and collect sensor data
|
||||
# -------------------------------
|
||||
# We assume that 2800 > 1480 so we decrement by 10 each step.
|
||||
for pos in range(2800, 1500, -10): # 2800 down to 1480 (inclusive)
|
||||
# Command the motor to go to position 'pos'
|
||||
arm_bus.write("Goal_Position", pos, ["wrist_pitch"])
|
||||
|
||||
# Wait a short period for the motor to move and the sensor to update.
|
||||
time.sleep(0.01)
|
||||
|
||||
# Read one line from the sensor device.
|
||||
sensor_val = np.nan # default if reading fails
|
||||
try:
|
||||
line = ser.readline().decode('utf-8').strip()
|
||||
if line:
|
||||
# Split the line into parts and convert each part to int.
|
||||
parts = line.split()
|
||||
# Ensure there are enough values (we expect at least 15 values)
|
||||
if len(parts) >= 15:
|
||||
values = [int(x) for x in parts]
|
||||
# Use the 15th value (index 14)
|
||||
sensor_val = values[14]
|
||||
except Exception as e:
|
||||
print(f"Error parsing sensor data: {e}")
|
||||
|
||||
positions.append(pos)
|
||||
sensor_values.append(sensor_val)
|
||||
print(f"Motor pos: {pos} | Sensor 15th value: {sensor_val}")
|
||||
|
||||
#move it back to
|
||||
arm_bus.write("Goal_Position", 2800, ["wrist_pitch"])
|
||||
# -------------------------------
|
||||
# Plot the data: Motor Angle vs. Sensor 15th Value
|
||||
# -------------------------------
|
||||
plt.figure(figsize=(10, 6))
|
||||
plt.plot(positions, sensor_values, marker='o', linestyle='-')
|
||||
plt.xlabel("Motor Angle")
|
||||
plt.ylabel("Sensor 15th Value")
|
||||
plt.title("Motor Angle vs Sensor 15th Value")
|
||||
plt.grid(True)
|
||||
plt.savefig("asd.png", dpi=300)
|
||||
plt.close()
|
||||
print("Plot saved as asd.png")
|
||||
|
||||
# Close the serial connection.
|
||||
ser.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
682
examples/hopejr/test.py
Normal file
682
examples/hopejr/test.py
Normal file
@@ -0,0 +1,682 @@
|
||||
import threading
|
||||
import time
|
||||
from typing import Callable
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
|
||||
# from qai_hub_models.models.mediapipe_hand.app import MediaPipeHandApp
|
||||
# from qai_hub_models.models.mediapipe_hand.model import (
|
||||
# MediaPipeHand,
|
||||
# )
|
||||
# from qai_hub_models.utils.image_processing import (
|
||||
# app_to_net_image_inputs,
|
||||
# )
|
||||
from lerobot.common.robot_devices.motors.feetech import (
|
||||
CalibrationMode,
|
||||
FeetechMotorsBus,
|
||||
)
|
||||
|
||||
LOWER_BOUND_LINEAR = -100
|
||||
UPPER_BOUND_LINEAR = 200
|
||||
|
||||
import serial
|
||||
|
||||
|
||||
class HomonculusGlove:
|
||||
def __init__(self):
|
||||
self.serial_port = "COM10"
|
||||
self.baud_rate = 115200
|
||||
self.serial = serial.Serial(self.serial_port, self.baud_rate, timeout=1)
|
||||
self.thread = threading.Thread(target=self.async_read)
|
||||
self.thread.start()
|
||||
self.last_d = {
|
||||
"thumb_0": 100,
|
||||
"thumb_1": 100,
|
||||
"thumb_2": 100,
|
||||
"thumb_3": 100,
|
||||
"index_0": 100,
|
||||
"index_1": 100,
|
||||
"index_2": 100,
|
||||
"middle_0": 100,
|
||||
"middle_1": 100,
|
||||
"middle_2": 100,
|
||||
"ring_0": 100,
|
||||
"ring_1": 100,
|
||||
"ring_2": 100,
|
||||
"pinky_0": 100,
|
||||
"pinky_1": 100,
|
||||
"pinky_2": 100,
|
||||
"battery_voltage": 100,
|
||||
}
|
||||
self.calibration = None
|
||||
|
||||
@property
|
||||
def joint_names(self):
|
||||
return list(self.last_d.keys())
|
||||
|
||||
def read(self, motor_names: list[str] | None = None):
|
||||
if motor_names is None:
|
||||
motor_names = self.joint_names
|
||||
|
||||
values = np.array([self.last_d[k] for k in motor_names])
|
||||
|
||||
print(motor_names)
|
||||
print(values)
|
||||
|
||||
if self.calibration is not None:
|
||||
values = self.apply_calibration(values, motor_names)
|
||||
print(values)
|
||||
return values
|
||||
|
||||
def async_read(self):
|
||||
while True:
|
||||
if self.serial.in_waiting > 0:
|
||||
self.serial.flush()
|
||||
vals = self.serial.readline().decode("utf-8").strip()
|
||||
vals = vals.split(" ")
|
||||
if len(vals) != 17:
|
||||
continue
|
||||
vals = [int(val) for val in vals]
|
||||
|
||||
d = {
|
||||
"thumb_0": vals[0],
|
||||
"thumb_1": vals[1],
|
||||
"thumb_2": vals[2],
|
||||
"thumb_3": vals[3],
|
||||
"index_0": vals[4],
|
||||
"index_1": vals[5],
|
||||
"index_2": vals[6],
|
||||
"middle_0": vals[7],
|
||||
"middle_1": vals[8],
|
||||
"middle_2": vals[9],
|
||||
"ring_0": vals[10],
|
||||
"ring_1": vals[11],
|
||||
"ring_2": vals[12],
|
||||
"pinky_0": vals[13],
|
||||
"pinky_1": vals[14],
|
||||
"pinky_2": vals[15],
|
||||
"battery_voltage": vals[16],
|
||||
}
|
||||
self.last_d = d
|
||||
# print(d.values())
|
||||
|
||||
def run_calibration(self):
|
||||
print("\nMove arm to open position")
|
||||
input("Press Enter to continue...")
|
||||
open_pos_list = []
|
||||
for _ in range(300):
|
||||
open_pos = self.read()
|
||||
open_pos_list.append(open_pos)
|
||||
time.sleep(0.01)
|
||||
open_pos = np.array(open_pos_list)
|
||||
max_open_pos = open_pos.max(axis=0)
|
||||
min_open_pos = open_pos.min(axis=0)
|
||||
|
||||
print(f"{max_open_pos=}")
|
||||
print(f"{min_open_pos=}")
|
||||
|
||||
print("\nMove arm to closed position")
|
||||
input("Press Enter to continue...")
|
||||
closed_pos_list = []
|
||||
for _ in range(300):
|
||||
closed_pos = self.read()
|
||||
closed_pos_list.append(closed_pos)
|
||||
time.sleep(0.01)
|
||||
closed_pos = np.array(closed_pos_list)
|
||||
max_closed_pos = closed_pos.max(axis=0)
|
||||
closed_pos[closed_pos < 1000] = 60000
|
||||
min_closed_pos = closed_pos.min(axis=0)
|
||||
|
||||
print(f"{max_closed_pos=}")
|
||||
print(f"{min_closed_pos=}")
|
||||
|
||||
open_pos = np.array([max_open_pos, max_closed_pos]).max(axis=0)
|
||||
closed_pos = np.array([min_open_pos, min_closed_pos]).min(axis=0)
|
||||
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
for i, jname in enumerate(self.joint_names):
|
||||
if jname in ["thumb_0", "thumb_3", "index_2", "middle_2", "ring_2", "pinky_0", "pinky_2"]:
|
||||
tmp_pos = open_pos[i]
|
||||
open_pos[i] = closed_pos[i]
|
||||
closed_pos[i] = tmp_pos
|
||||
|
||||
print()
|
||||
print(f"{open_pos=}")
|
||||
print(f"{closed_pos=}")
|
||||
|
||||
homing_offset = [0] * len(self.joint_names)
|
||||
drive_mode = [0] * len(self.joint_names)
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.joint_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": open_pos,
|
||||
"end_pos": closed_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.joint_names,
|
||||
}
|
||||
# return calib_dict
|
||||
self.set_calibration(calib_dict)
|
||||
|
||||
def set_calibration(self, calibration: dict[str, list]):
|
||||
self.calibration = calibration
|
||||
|
||||
def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
|
||||
"""Convert from unsigned int32 joint position range [0, 2**32[ to the universal float32 nominal degree range ]-180.0, 180.0[ with
|
||||
a "zero position" at 0 degree.
|
||||
|
||||
Note: We say "nominal degree range" since the motors can take values outside this range. For instance, 190 degrees, if the motor
|
||||
rotate more than a half a turn from the zero position. However, most motors can't rotate more than 180 degrees and will stay in this range.
|
||||
|
||||
Joints values are original in [0, 2**32[ (unsigned int32). Each motor are expected to complete a full rotation
|
||||
when given a goal position that is + or - their resolution. For instance, feetech xl330-m077 have a resolution of 4096, and
|
||||
at any position in their original range, let's say the position 56734, they complete a full rotation clockwise by moving to 60830,
|
||||
or anticlockwise by moving to 52638. The position in the original range is arbitrary and might change a lot between each motor.
|
||||
To harmonize between motors of the same model, different robots, or even models of different brands, we propose to work
|
||||
in the centered nominal degree range ]-180, 180[.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.motor_names
|
||||
|
||||
# Convert from unsigned int32 original range [0, 2**32] to signed float32 range
|
||||
values = values.astype(np.float32)
|
||||
|
||||
for i, name in enumerate(motor_names):
|
||||
calib_idx = self.calibration["motor_names"].index(name)
|
||||
calib_mode = self.calibration["calib_mode"][calib_idx]
|
||||
|
||||
if CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
|
||||
start_pos = self.calibration["start_pos"][calib_idx]
|
||||
end_pos = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
# Rescale the present position to a nominal range [0, 100] %,
|
||||
# useful for joints with linear motions like Aloha gripper
|
||||
values[i] = (values[i] - start_pos) / (end_pos - start_pos) * 100
|
||||
|
||||
if (values[i] < LOWER_BOUND_LINEAR) or (values[i] > UPPER_BOUND_LINEAR):
|
||||
if name == "pinky_1" and (values[i] < LOWER_BOUND_LINEAR):
|
||||
values[i] = end_pos
|
||||
else:
|
||||
msg = (
|
||||
f"Wrong motor position range detected for {name}. "
|
||||
f"Expected to be in nominal range of [0, 100] % (a full linear translation), "
|
||||
f"with a maximum range of [{LOWER_BOUND_LINEAR}, {UPPER_BOUND_LINEAR}] % to account for some imprecision during calibration, "
|
||||
f"but present value is {values[i]} %. "
|
||||
"This might be due to a cable connection issue creating an artificial jump in motor values. "
|
||||
"You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`"
|
||||
)
|
||||
print(msg)
|
||||
# raise JointOutOfRangeError(msg)
|
||||
|
||||
return values
|
||||
|
||||
# def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
|
||||
# """Inverse of `apply_calibration`."""
|
||||
# if motor_names is None:
|
||||
# motor_names = self.motor_names
|
||||
|
||||
# for i, name in enumerate(motor_names):
|
||||
# calib_idx = self.calibration["motor_names"].index(name)
|
||||
# calib_mode = self.calibration["calib_mode"][calib_idx]
|
||||
|
||||
# if CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
|
||||
# start_pos = self.calibration["start_pos"][calib_idx]
|
||||
# end_pos = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
# # Convert from nominal lnear range of [0, 100] % to
|
||||
# # actual motor range of values which can be arbitrary.
|
||||
# values[i] = values[i] / 100 * (end_pos - start_pos) + start_pos
|
||||
|
||||
# values = np.round(values).astype(np.int32)
|
||||
# return values
|
||||
|
||||
|
||||
class HopeJuniorRobot:
|
||||
def __init__(self):
|
||||
self.arm_bus = FeetechMotorsBus(
|
||||
port="COM14",
|
||||
motors={
|
||||
# "motor1": (2, "sts3250"),
|
||||
# "motor2": (1, "scs0009"),
|
||||
"shoulder_pitch": [1, "sts3250"],
|
||||
"shoulder_yaw": [2, "sts3215"], # TODO: sts3250
|
||||
"shoulder_roll": [3, "sts3215"], # TODO: sts3250
|
||||
"elbow_flex": [4, "sts3250"],
|
||||
"wrist_roll": [5, "sts3215"],
|
||||
"wrist_yaw": [6, "sts3215"],
|
||||
"wrist_pitch": [7, "sts3215"],
|
||||
},
|
||||
protocol_version=0,
|
||||
)
|
||||
self.hand_bus = FeetechMotorsBus(
|
||||
port="COM15",
|
||||
motors={
|
||||
"thumb_basel_rotation": [30, "scs0009"],
|
||||
"thumb_flexor": [27, "scs0009"],
|
||||
"thumb_pinky_side": [26, "scs0009"],
|
||||
"thumb_thumb_side": [28, "scs0009"],
|
||||
"index_flexor": [25, "scs0009"],
|
||||
"index_pinky_side": [31, "scs0009"],
|
||||
"index_thumb_side": [32, "scs0009"],
|
||||
"middle_flexor": [24, "scs0009"],
|
||||
"middle_pinky_side": [33, "scs0009"],
|
||||
"middle_thumb_side": [34, "scs0009"],
|
||||
"ring_flexor": [21, "scs0009"],
|
||||
"ring_pinky_side": [36, "scs0009"],
|
||||
"ring_thumb_side": [35, "scs0009"],
|
||||
"pinky_flexor": [23, "scs0009"],
|
||||
"pinky_pinky_side": [38, "scs0009"],
|
||||
"pinky_thumb_side": [37, "scs0009"],
|
||||
},
|
||||
protocol_version=1,
|
||||
group_sync_read=False,
|
||||
)
|
||||
|
||||
def get_hand_calibration(self):
|
||||
homing_offset = [0] * len(self.hand_bus.motor_names)
|
||||
drive_mode = [0] * len(self.hand_bus.motor_names)
|
||||
|
||||
start_pos = [
|
||||
500,
|
||||
900,
|
||||
1000,
|
||||
0,
|
||||
100,
|
||||
250,
|
||||
750,
|
||||
100,
|
||||
400,
|
||||
150,
|
||||
100,
|
||||
120,
|
||||
980,
|
||||
100,
|
||||
950,
|
||||
750,
|
||||
]
|
||||
|
||||
end_pos = [
|
||||
500 - 250,
|
||||
900 - 300,
|
||||
1000 - 550,
|
||||
0 + 550,
|
||||
1000,
|
||||
250 + 700,
|
||||
750 - 700,
|
||||
1000,
|
||||
400 + 700,
|
||||
150 + 700,
|
||||
1000,
|
||||
120 + 700,
|
||||
980 - 700,
|
||||
1000,
|
||||
950 - 700,
|
||||
750 - 700,
|
||||
]
|
||||
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.hand_bus.motor_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": start_pos,
|
||||
"end_pos": end_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.hand_bus.motor_names,
|
||||
}
|
||||
return calib_dict
|
||||
|
||||
def connect(self):
|
||||
self.arm_bus.connect()
|
||||
#self.hand_bus.connect()
|
||||
|
||||
|
||||
ESCAPE_KEY_ID = 27
|
||||
|
||||
|
||||
def capture_and_display_processed_frames(
|
||||
frame_processor: Callable[[np.ndarray], np.ndarray],
|
||||
window_display_name: str,
|
||||
cap_device: int = 0,
|
||||
) -> None:
|
||||
"""
|
||||
Capture frames from the given input camera device, run them through
|
||||
the frame processor, and display the outputs in a window with the given name.
|
||||
|
||||
User should press Esc to exit.
|
||||
|
||||
Inputs:
|
||||
frame_processor: Callable[[np.ndarray], np.ndarray]
|
||||
Processes frames.
|
||||
Input and output are numpy arrays of shape (H W C) with BGR channel layout and dtype uint8 / byte.
|
||||
window_display_name: str
|
||||
Name of the window used to display frames.
|
||||
cap_device: int
|
||||
Identifier for the camera to use to capture frames.
|
||||
"""
|
||||
cv2.namedWindow(window_display_name)
|
||||
capture = cv2.VideoCapture(cap_device)
|
||||
if not capture.isOpened():
|
||||
raise ValueError("Unable to open video capture.")
|
||||
|
||||
frame_count = 0
|
||||
has_frame, frame = capture.read()
|
||||
while has_frame:
|
||||
assert isinstance(frame, np.ndarray)
|
||||
|
||||
frame_count = frame_count + 1
|
||||
# mirror frame
|
||||
frame = np.ascontiguousarray(frame[:, ::-1, ::-1])
|
||||
|
||||
# process & show frame
|
||||
processed_frame = frame_processor(frame)
|
||||
cv2.imshow(window_display_name, processed_frame[:, :, ::-1])
|
||||
|
||||
has_frame, frame = capture.read()
|
||||
key = cv2.waitKey(1)
|
||||
if key == ESCAPE_KEY_ID:
|
||||
break
|
||||
|
||||
capture.release()
|
||||
|
||||
|
||||
def main():
|
||||
robot = HopeJuniorRobot()
|
||||
robot.connect()
|
||||
|
||||
# robot.hand_bus.calibration = None
|
||||
|
||||
# breakpoint()
|
||||
# print(robot.arm_bus.read("Present_Position"))
|
||||
robot.arm_bus.write("Torque_Enable", 1)
|
||||
robot.arm_bus.write("Acceleration", 20)
|
||||
robot.arm_bus.read("Acceleration")
|
||||
robot.arm_bus.write("Goal_Position", calibration["start_pos"])
|
||||
exit()
|
||||
calibration = robot.get_hand_calibration()
|
||||
robot.arm_bus.write("Goal_Position", calibration["start_pos"])
|
||||
# robot.hand_bus.write("Goal_Position", calibration["end_pos"][:4], robot.hand_bus.motor_names[:4])
|
||||
robot.hand_bus.set_calibration(calibration)
|
||||
lol = 1
|
||||
|
||||
# # print(motors_bus.write("Goal_Position", 500))
|
||||
# print(robot.hand_bus.read("Present_Position"))
|
||||
# # pos = hand_bus.read("Present_Position")
|
||||
# # hand_bus.write("Goal_Position", pos[0]+20, hand_bus.motor_names[0])
|
||||
# # hand_bus.write("Goal_Position", pos[i]+delta, hand_bus.motor_names[i])
|
||||
# robot.hand_bus.read("Acceleration")
|
||||
# robot.hand_bus.write("Acceleration", 10)
|
||||
|
||||
# sleep = 1
|
||||
# # robot.hand_bus.write(
|
||||
# # "Goal_Position", [glove.last_d['index_2']-1500,300,300], ["index_pinky_side", "index_flexor", "index_thumb_side"]
|
||||
# # )
|
||||
# #time.sleep(sleep)
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [100, 100, 100], ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [100, 0, 0], ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [200, 200, 0], ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [200, 100, 600], ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
|
||||
# breakpoint()
|
||||
|
||||
glove = HomonculusGlove()
|
||||
glove.run_calibration()
|
||||
# while True:
|
||||
# joint_names = ["index_1", "index_2"]
|
||||
# joint_values = glove.read(joint_names)
|
||||
# print(joint_values)
|
||||
|
||||
input()
|
||||
while True:
|
||||
joint_names = []
|
||||
joint_names += ["thumb_0", "thumb_2", "thumb_3"]
|
||||
joint_names += ["index_1", "index_2"]
|
||||
joint_names += ["middle_1", "middle_2"]
|
||||
joint_names += ["ring_1", "ring_2"]
|
||||
joint_names += ["pinky_1", "pinky_2"]
|
||||
joint_values = glove.read(joint_names)
|
||||
joint_values = joint_values.round().astype(int)
|
||||
joint_dict = {k: v for k, v in zip(joint_names, joint_values, strict=False)}
|
||||
|
||||
motor_values = []
|
||||
motor_names = []
|
||||
motor_names += ["thumb_basel_rotation", "thumb_flexor", "thumb_pinky_side", "thumb_thumb_side"]
|
||||
motor_values += [
|
||||
joint_dict["thumb_3"],
|
||||
joint_dict["thumb_0"],
|
||||
joint_dict["thumb_2"],
|
||||
joint_dict["thumb_2"],
|
||||
]
|
||||
motor_names += ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
motor_values += [joint_dict["index_2"], joint_dict["index_1"], joint_dict["index_1"]]
|
||||
motor_names += ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
motor_values += [joint_dict["middle_2"], joint_dict["middle_1"], joint_dict["middle_1"]]
|
||||
motor_names += ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
motor_values += [joint_dict["ring_2"], joint_dict["ring_1"], joint_dict["ring_1"]]
|
||||
motor_names += ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
|
||||
motor_values += [joint_dict["pinky_2"], joint_dict["pinky_1"], joint_dict["pinky_1"]]
|
||||
|
||||
motor_values = np.array(motor_values)
|
||||
motor_values = np.clip(motor_values, 0, 100)
|
||||
|
||||
robot.hand_bus.write("Goal_Position", motor_values, motor_names)
|
||||
time.sleep(0.02)
|
||||
|
||||
while True:
|
||||
# print(glove.read()['index_2']-1500)
|
||||
glove_index_flexor = glove.read()["index_2"] - 1500
|
||||
glove_index_subflexor = glove.read()["index_1"] - 1500
|
||||
glove_index_side = glove.read()["index_0"] - 2100
|
||||
|
||||
vals = [glove_index_flexor, 1000 - (glove_index_subflexor), glove_index_subflexor]
|
||||
|
||||
keys = ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
|
||||
glove_middle_flexor = glove.read()["middle_2"] - 1500
|
||||
glove_middle_subflexor = 1000 - (glove.read()["middle_1"] - 1700)
|
||||
vals += [glove_middle_flexor, glove_middle_subflexor, glove_middle_subflexor - 200]
|
||||
keys += ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
|
||||
glove_ring_flexor = glove.read()["ring_2"] - 1300
|
||||
print(glove_ring_flexor)
|
||||
glove_ring_subflexor = glove.read()["ring_1"] - 1100
|
||||
|
||||
vals += [glove_ring_flexor, 1000 - glove_ring_subflexor, glove_ring_subflexor]
|
||||
keys += ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
|
||||
glove_pinky_flexor = glove.read()["pinky_2"] - 1500
|
||||
glove_pinky_subflexor = glove.read()["pinky_1"] - 1300
|
||||
vals += [300 + glove_pinky_flexor, max(1000 - glove_pinky_subflexor - 100, 0), glove_pinky_subflexor]
|
||||
keys += ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
|
||||
robot.hand_bus.write("Goal_Position", vals, keys)
|
||||
time.sleep(0.1)
|
||||
|
||||
time.sleep(3)
|
||||
|
||||
def move_arm(loop=10):
|
||||
sleep = 1
|
||||
for i in range(loop):
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1195])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 2195])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1457, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 2357, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 974, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 2674, 1957, 1695])
|
||||
time.sleep(sleep + 2)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 1632, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 1369, 1632, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 1330, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [2381, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1681, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
|
||||
def move_hand(loop=10):
|
||||
sleep = 0.5
|
||||
for i in range(loop):
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[500, 1000, 0, 1000],
|
||||
["thumb_basel_rotation", "thumb_flexor", "thumb_pinky_side", "thumb_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [100, 100, 100], ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [100, 1000, 150], ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [200, 200, 0], ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [200, 100, 700], ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[500, 1000 - 250, 0 + 300, 1000 - 200],
|
||||
["thumb_basel_rotation", "thumb_flexor", "thumb_pinky_side", "thumb_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[100 + 450, 100 + 400, 100 + 400],
|
||||
["index_flexor", "index_pinky_side", "index_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[100 + 350, 1000 - 450, 150 + 450],
|
||||
["middle_flexor", "middle_pinky_side", "middle_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[200 + 650, 200 + 350, 0 + 350],
|
||||
["ring_flexor", "ring_pinky_side", "ring_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[200 + 450, 100 + 400, 700 - 400],
|
||||
["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
|
||||
move_hand(3)
|
||||
|
||||
move_arm(1)
|
||||
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
|
||||
with ThreadPoolExecutor() as executor:
|
||||
executor.submit(move_arm)
|
||||
executor.submit(move_hand)
|
||||
|
||||
# initial position
|
||||
for i in range(3):
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [500, 1000, 0, 1000, 100, 950, 100, 100, 1000, 150, 200, 200, 0, 200, 100, 700]
|
||||
)
|
||||
time.sleep(1)
|
||||
|
||||
# for i in range(3):
|
||||
# robot.hand_bus.write("Goal_Position", [500, 1000-150, 0+250, 1000-150,
|
||||
# 100+300, 950-250, 100+250,
|
||||
# 100+200, 1000-300, 150+300,
|
||||
# 200+500, 200+200, 0+200,
|
||||
# 200+300, 100+200, 700-200])
|
||||
# time.sleep(1)
|
||||
|
||||
# camera = 0
|
||||
# score_threshold = 0.95
|
||||
# iou_threshold = 0.3
|
||||
|
||||
# app = MediaPipeHandApp(MediaPipeHand.from_pretrained(), score_threshold, iou_threshold)
|
||||
|
||||
# def frame_processor(frame: np.ndarray) -> np.ndarray:
|
||||
# # Input Prep
|
||||
# NHWC_int_numpy_frames, NCHW_fp32_torch_frames = app_to_net_image_inputs(frame)
|
||||
|
||||
# # Run Bounding Box & Keypoint Detector
|
||||
# batched_selected_boxes, batched_selected_keypoints = app._run_box_detector(NCHW_fp32_torch_frames)
|
||||
|
||||
# # The region of interest ( bounding box of 4 (x, y) corners).
|
||||
# # list[torch.Tensor(shape=[Num Boxes, 4, 2])],
|
||||
# # where 2 == (x, y)
|
||||
# #
|
||||
# # A list element will be None if there is no selected ROI.
|
||||
# batched_roi_4corners = app._compute_object_roi(batched_selected_boxes, batched_selected_keypoints)
|
||||
|
||||
# # selected landmarks for the ROI (if any)
|
||||
# # list[torch.Tensor(shape=[Num Selected Landmarks, K, 3])],
|
||||
# # where K == number of landmark keypoints, 3 == (x, y, confidence)
|
||||
# #
|
||||
# # A list element will be None if there is no ROI.
|
||||
# landmarks_out = app._run_landmark_detector(NHWC_int_numpy_frames, batched_roi_4corners)
|
||||
|
||||
# app._draw_predictions(
|
||||
# NHWC_int_numpy_frames,
|
||||
# batched_selected_boxes,
|
||||
# batched_selected_keypoints,
|
||||
# batched_roi_4corners,
|
||||
# *landmarks_out,
|
||||
# )
|
||||
|
||||
# return NHWC_int_numpy_frames[0]
|
||||
|
||||
# capture_and_display_processed_frames(frame_processor, "QAIHM Mediapipe Hand Demo", camera)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
231
examples/hopejr/utils.py
Normal file
231
examples/hopejr/utils.py
Normal file
@@ -0,0 +1,231 @@
|
||||
|
||||
#robot.arm_bus.write("Acceleration", [20], ["shoulder_pitch"])
|
||||
|
||||
####DEBUGGER####################
|
||||
# joint = input("Enter joint name: ")
|
||||
# encoder = EncoderReader("/dev/ttyUSB1", 115200)
|
||||
# start_angle = arm_calibration['start_pos'][arm_calibration['motor_names'].index(joint)]
|
||||
# end_angle = arm_calibration['end_pos'][arm_calibration['motor_names'].index(joint)]
|
||||
# # start_angle = shoulder_calibration['start_pos'][shoulder_calibration['motor_names'].index(joint)]
|
||||
# # end_angle = shoulder_calibration['end_pos'][shoulder_calibration['motor_names'].index(joint)]
|
||||
# while True:
|
||||
# angle = int(start_angle+(end_angle-start_angle)*encoder.read()/1000)
|
||||
# # robot.shoulder_bus.set_bus_baudrate(115200)
|
||||
# # robot.shoulder_bus.write("Goal_Position",angle, [joint])
|
||||
# robot.shoulder_bus.set_bus_baudrate(1000000)
|
||||
# robot.arm_bus.write("Goal_Position",angle, [joint])
|
||||
# print(angle)
|
||||
# time.sleep(0.1)
|
||||
|
||||
|
||||
|
||||
#####SAFETY CHECKS EXPLAINED#####
|
||||
#There are two safety checks built-in: one is based on load and the other is based on current.
|
||||
#Current: if Protection_Current > Present_Current we wait Over_Current_Protection_Time (expressed in ms) and set Torque_Enable to 0
|
||||
#Load: if Max_Torque_Limit*Overload_Torque (expressed as a percentage) > Present_Load, we wait Protection_Time (expressed in ms
|
||||
#and set Max_Torque_Limit to Protective_Torque)
|
||||
#Though we can specify Min-Max_Angle_Limit, Max_Temperature_Limit, Min-Max_Voltage_Limit, no safety checks are implemented for these values
|
||||
|
||||
#robot.arm_bus.set_calibration(arm_calibration)
|
||||
|
||||
|
||||
|
||||
|
||||
#method 1
|
||||
# robot.arm_bus.write("Overload_Torque", 80)
|
||||
# robot.arm_bus.write("Protection_Time", 10)
|
||||
# robot.arm_bus.write("Protective_Torque", 1)
|
||||
# robot.arm_bus.write("Protection_Current", 200,["shoulder_pitch"])
|
||||
# robot.arm_bus.write("Over_Current_Protection_Time", 10)
|
||||
|
||||
#method 2
|
||||
# robot.arm_bus.write("Protection_Current", 500,["shoulder_pitch"])
|
||||
# robot.arm_bus.write("Over_Current_Protection_Time", 10)
|
||||
# robot.arm_bus.write("Max_Torque_Limit", 1000)
|
||||
# robot.arm_bus.write("Overload_Torque", 40)
|
||||
# robot.arm_bus.write("Protection_Time", 10)
|
||||
# robot.arm_bus.write("Protective_Torque", 1)
|
||||
|
||||
# robot.shoulder_bus.set_bus_baudrate(115200)
|
||||
# robot.shoulder_bus.write("Goal_Position",2500)
|
||||
# exit()
|
||||
|
||||
######LOGGER####################
|
||||
# from test_torque.log_and_plot_feetech import log_and_plot_params
|
||||
|
||||
# params_to_log = [
|
||||
# "Protection_Current",
|
||||
# "Present_Current",
|
||||
# "Max_Torque_Limit",
|
||||
# "Protection_Time",
|
||||
# "Overload_Torque",
|
||||
# "Present_Load",
|
||||
# "Present_Position",
|
||||
# ]
|
||||
|
||||
# servo_names = ["shoulder_pitch"]
|
||||
|
||||
|
||||
# servo_data, timestamps = log_and_plot_params(robot.shoulder_bus, params_to_log, servo_names, test_id="shoulder_pitch")
|
||||
# exit()
|
||||
|
||||
|
||||
#robot.arm_bus.write("Goal_Position",2300, ["shoulder_pitch"])
|
||||
# dt = 2
|
||||
# steps = 4
|
||||
# max_pos = 1500
|
||||
# min_pos = 2300
|
||||
# increment = (max_pos - min_pos) / steps
|
||||
# # Move from min_pos to max_pos in steps
|
||||
# for i in range(steps + 1): # Include the last step
|
||||
# current_pos = min_pos + int(i * increment)
|
||||
# robot.arm_bus.write("Goal_Position", [current_pos], ["shoulder_pitch"])
|
||||
# time.sleep(dt)
|
||||
|
||||
# # Move back from max_pos to min_pos in steps
|
||||
# for i in range(steps + 1): # Include the last step
|
||||
# current_pos = max_pos - int(i * increment)
|
||||
# robot.arm_bus.write("Goal_Position", [current_pos], ["shoulder_pitch"])
|
||||
# time.sleep(dt)shoulder_pitch
|
||||
#demo to show how sending a lot of values makes the robt shake
|
||||
|
||||
|
||||
|
||||
# # Step increment
|
||||
#
|
||||
|
||||
# # Move from min_pos to max_pos in steps
|
||||
# for i in range(steps + 1): # Include the last step
|
||||
# current_pos = min_pos + int(i * increment)
|
||||
# robot.arm_bus.write("Goal_Position", [current_pos], ["elbow_flex"])
|
||||
# time.sleep(dt)
|
||||
|
||||
# # Move back from max_pos to min_pos in steps
|
||||
# for i in range(steps + 1): # Include the last step
|
||||
# current_pos = max_pos - int(i * increment)
|
||||
# robot.arm_bus.write("Goal_Position", [current_pos], ["elbow_flex"])
|
||||
# time.sleep(dt)
|
||||
# exit()
|
||||
|
||||
#robot.arm_bus.write("Goal_Position", a # shoulder_calibration = robot.get_shoulder_calibration()
|
||||
# print(shoulder_calibration)m_calibration["start_pos"])
|
||||
# robot.arm_bus.write("Over_Current_Protection_Time", 50)
|
||||
# robot.arm_bus.write("Protection_Current", 310, ["shoulder_pitch"])
|
||||
# robot.arm_bus.write("Overload_Torque", 80, ["shoulder_pitch"])
|
||||
# robot.arm_bus.write("Protection_Time", 100, ["shoulder_pitch"])
|
||||
# robot.arm_bus.write("Over_Current_Protection_Time", 50, ["shoulder_pitch"])
|
||||
|
||||
# robot.arm_bus.write("Protective_Torque", 20, ["shoulder_pitch"])
|
||||
|
||||
|
||||
# robot.arm_bus.write("Goal_Position", [600],["shoulder_pitch"])
|
||||
|
||||
# from test_torque.log_and_plot_feetech import log_and_plot_params
|
||||
|
||||
# params_to_log = [
|
||||
# "Present_Current",
|
||||
# "Protection_Current",
|
||||
# "Overload_Torque",
|
||||
# "Protection_Time",
|
||||
# "Protective_Torque",
|
||||
# "Present_Load",
|
||||
# "Present_Position",
|
||||
# ]
|
||||
|
||||
# servo_names = ["shoulder_pitch"]
|
||||
|
||||
#
|
||||
|
||||
#robot.arm_bus.write("Goal_Position", arm_calibration["start_pos"])
|
||||
|
||||
#robot.hand_bus.set_calibration(hand_calibration)
|
||||
|
||||
#interp = 0.3
|
||||
|
||||
#robot.arm_bus.write("Goal_Position", [int((i*interp+j*(1-interp))) for i, j in zip(arm_calibration["start_pos"], arm_calibration["end_pos"])])
|
||||
#exit()
|
||||
|
||||
# glove = HomonculusGlove()
|
||||
# glove.run_calibration()
|
||||
|
||||
|
||||
|
||||
####GOOD FOR GRASPING
|
||||
# start_pos = [
|
||||
# 500,
|
||||
# 900,
|
||||
# 500,
|
||||
# 1000,
|
||||
# 100,
|
||||
# 450,#250
|
||||
# 950,#750
|
||||
# 100,
|
||||
# 300,#400
|
||||
# 50,#150
|
||||
# 100,
|
||||
# 120,
|
||||
# 980,
|
||||
# 100,
|
||||
# 950,
|
||||
# 750,
|
||||
# ]
|
||||
# end_pos = [
|
||||
# start_pos[0] - 400,
|
||||
# start_pos[1] - 300,
|
||||
# start_pos[2] + 500,
|
||||
# start_pos[3] - 50,
|
||||
# start_pos[4] + 900,
|
||||
# start_pos[5] + 500,
|
||||
# start_pos[6] - 500,
|
||||
# start_pos[7] + 900,
|
||||
# start_pos[8] + 700,
|
||||
# start_pos[9] + 700,
|
||||
# start_pos[10] + 900,
|
||||
# start_pos[11] + 700,
|
||||
# start_pos[12] - 700,
|
||||
# start_pos[13] + 900,
|
||||
# start_pos[14] - 700,
|
||||
# start_pos[15] - 700,
|
||||
# ]
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
SCS_SERIES_CONTROL_TABLE = {
|
||||
|
||||
# "Max_Torque_Limit": (16, 2),
|
||||
# "Phase": (18, 1),
|
||||
# "Unloading_Condition": (19, 1),
|
||||
|
||||
"Protective_Torque": (37, 1),
|
||||
"Protection_Time": (38, 1),
|
||||
#Baud_Rate": (48, 1),
|
||||
|
||||
}
|
||||
|
||||
def read_and_print_scs_values(robot):
|
||||
for param_name in SCS_SERIES_CONTROL_TABLE:
|
||||
value = robot.hand_bus.read(param_name)
|
||||
print(f"{param_name}: {value}")
|
||||
|
||||
motor_1_values = {
|
||||
"Lock" : 255,
|
||||
#"Protection_Time": 20#so if you write to these they turn to 0 for some fucking reason. protection time was 100, procetive to
|
||||
}
|
||||
|
||||
# motor_1_values = {
|
||||
# "Lock": 1,
|
||||
# "Protection_Time": 100,
|
||||
# "Protective_Torque": 20,
|
||||
# "Phase": 1,#thisu is bullshit
|
||||
# "Unloading_Condition": 32,
|
||||
|
||||
# }
|
||||
#bug in writing to specific values of the scs0009
|
||||
|
||||
# Write values to motor 2, there is overload torque there
|
||||
#ok so i can write, the jittering is because of the overload torque which is still being triggered
|
||||
|
||||
#TODO: i have to write a functioining version for the sc009 (or i dont who cares)
|
||||
18
examples/hopejr/visualizer.py
Normal file
18
examples/hopejr/visualizer.py
Normal file
@@ -0,0 +1,18 @@
|
||||
# Color gradient function (0-2024 scaled to 0-10)
|
||||
def value_to_color(value):
|
||||
# Clamp the value between 0 and 2024
|
||||
value = max(0, min(2024, value))
|
||||
|
||||
# Scale from [0..2024] to [0..10]
|
||||
scaled_value = (value / 2024) * 10
|
||||
|
||||
# Green to Yellow (scaled_value 0..5), then Yellow to Red (scaled_value 5..10)
|
||||
if scaled_value <= 5:
|
||||
r = int(255 * (scaled_value / 5))
|
||||
g = 255
|
||||
else:
|
||||
r = 255
|
||||
g = int(255 * (1 - (scaled_value - 5) / 5))
|
||||
b = 0
|
||||
|
||||
return (r, g, b)
|
||||
681
examples/test.py
Normal file
681
examples/test.py
Normal file
@@ -0,0 +1,681 @@
|
||||
import threading
|
||||
import time
|
||||
from typing import Callable
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
|
||||
# from qai_hub_models.models.mediapipe_hand.app import MediaPipeHandApp
|
||||
# from qai_hub_models.models.mediapipe_hand.model import (
|
||||
# MediaPipeHand,
|
||||
# )
|
||||
# from qai_hub_models.utils.image_processing import (
|
||||
# app_to_net_image_inputs,
|
||||
# )
|
||||
from lerobot.common.robot_devices.motors.feetech import (
|
||||
CalibrationMode,
|
||||
FeetechMotorsBus,
|
||||
)
|
||||
|
||||
LOWER_BOUND_LINEAR = -100
|
||||
UPPER_BOUND_LINEAR = 200
|
||||
|
||||
import serial
|
||||
|
||||
|
||||
class HomonculusGlove:
|
||||
def __init__(self):
|
||||
self.serial_port = "/dev/tty.usbmodem21401"
|
||||
self.baud_rate = 115200
|
||||
self.serial = serial.Serial(self.serial_port, self.baud_rate, timeout=1)
|
||||
self.thread = threading.Thread(target=self.async_read)
|
||||
self.thread.start()
|
||||
self.last_d = {
|
||||
"thumb_0": 100,
|
||||
"thumb_1": 100,
|
||||
"thumb_2": 100,
|
||||
"thumb_3": 100,
|
||||
"index_0": 100,
|
||||
"index_1": 100,
|
||||
"index_2": 100,
|
||||
"middle_0": 100,
|
||||
"middle_1": 100,
|
||||
"middle_2": 100,
|
||||
"ring_0": 100,
|
||||
"ring_1": 100,
|
||||
"ring_2": 100,
|
||||
"pinky_0": 100,
|
||||
"pinky_1": 100,
|
||||
"pinky_2": 100,
|
||||
"battery_voltage": 100,
|
||||
}
|
||||
self.calibration = None
|
||||
|
||||
@property
|
||||
def joint_names(self):
|
||||
return list(self.last_d.keys())
|
||||
|
||||
def read(self, motor_names: list[str] | None = None):
|
||||
if motor_names is None:
|
||||
motor_names = self.joint_names
|
||||
|
||||
values = np.array([self.last_d[k] for k in motor_names])
|
||||
|
||||
print(motor_names)
|
||||
print(values)
|
||||
|
||||
if self.calibration is not None:
|
||||
values = self.apply_calibration(values, motor_names)
|
||||
print(values)
|
||||
return values
|
||||
|
||||
def async_read(self):
|
||||
while True:
|
||||
if self.serial.in_waiting > 0:
|
||||
self.serial.flush()
|
||||
vals = self.serial.readline().decode("utf-8").strip()
|
||||
vals = vals.split(" ")
|
||||
if len(vals) != 17:
|
||||
continue
|
||||
vals = [int(val) for val in vals]
|
||||
|
||||
d = {
|
||||
"thumb_0": vals[0],
|
||||
"thumb_1": vals[1],
|
||||
"thumb_2": vals[2],
|
||||
"thumb_3": vals[3],
|
||||
"index_0": vals[4],
|
||||
"index_1": vals[5],
|
||||
"index_2": vals[6],
|
||||
"middle_0": vals[7],
|
||||
"middle_1": vals[8],
|
||||
"middle_2": vals[9],
|
||||
"ring_0": vals[10],
|
||||
"ring_1": vals[11],
|
||||
"ring_2": vals[12],
|
||||
"pinky_0": vals[13],
|
||||
"pinky_1": vals[14],
|
||||
"pinky_2": vals[15],
|
||||
"battery_voltage": vals[16],
|
||||
}
|
||||
self.last_d = d
|
||||
# print(d.values())
|
||||
|
||||
def run_calibration(self):
|
||||
print("\nMove arm to open position")
|
||||
input("Press Enter to continue...")
|
||||
open_pos_list = []
|
||||
for _ in range(300):
|
||||
open_pos = self.read()
|
||||
open_pos_list.append(open_pos)
|
||||
time.sleep(0.01)
|
||||
open_pos = np.array(open_pos_list)
|
||||
max_open_pos = open_pos.max(axis=0)
|
||||
min_open_pos = open_pos.min(axis=0)
|
||||
|
||||
print(f"{max_open_pos=}")
|
||||
print(f"{min_open_pos=}")
|
||||
|
||||
print("\nMove arm to closed position")
|
||||
input("Press Enter to continue...")
|
||||
closed_pos_list = []
|
||||
for _ in range(300):
|
||||
closed_pos = self.read()
|
||||
closed_pos_list.append(closed_pos)
|
||||
time.sleep(0.01)
|
||||
closed_pos = np.array(closed_pos_list)
|
||||
max_closed_pos = closed_pos.max(axis=0)
|
||||
closed_pos[closed_pos < 1000] = 60000
|
||||
min_closed_pos = closed_pos.min(axis=0)
|
||||
|
||||
print(f"{max_closed_pos=}")
|
||||
print(f"{min_closed_pos=}")
|
||||
|
||||
open_pos = np.array([max_open_pos, max_closed_pos]).max(axis=0)
|
||||
closed_pos = np.array([min_open_pos, min_closed_pos]).min(axis=0)
|
||||
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
for i, jname in enumerate(self.joint_names):
|
||||
if jname in ["thumb_0", "thumb_3", "index_2", "middle_2", "ring_2", "pinky_0", "pinky_2"]:
|
||||
tmp_pos = open_pos[i]
|
||||
open_pos[i] = closed_pos[i]
|
||||
closed_pos[i] = tmp_pos
|
||||
|
||||
print()
|
||||
print(f"{open_pos=}")
|
||||
print(f"{closed_pos=}")
|
||||
|
||||
homing_offset = [0] * len(self.joint_names)
|
||||
drive_mode = [0] * len(self.joint_names)
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.joint_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": open_pos,
|
||||
"end_pos": closed_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.joint_names,
|
||||
}
|
||||
# return calib_dict
|
||||
self.set_calibration(calib_dict)
|
||||
|
||||
def set_calibration(self, calibration: dict[str, list]):
|
||||
self.calibration = calibration
|
||||
|
||||
def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
|
||||
"""Convert from unsigned int32 joint position range [0, 2**32[ to the universal float32 nominal degree range ]-180.0, 180.0[ with
|
||||
a "zero position" at 0 degree.
|
||||
|
||||
Note: We say "nominal degree range" since the motors can take values outside this range. For instance, 190 degrees, if the motor
|
||||
rotate more than a half a turn from the zero position. However, most motors can't rotate more than 180 degrees and will stay in this range.
|
||||
|
||||
Joints values are original in [0, 2**32[ (unsigned int32). Each motor are expected to complete a full rotation
|
||||
when given a goal position that is + or - their resolution. For instance, feetech xl330-m077 have a resolution of 4096, and
|
||||
at any position in their original range, let's say the position 56734, they complete a full rotation clockwise by moving to 60830,
|
||||
or anticlockwise by moving to 52638. The position in the original range is arbitrary and might change a lot between each motor.
|
||||
To harmonize between motors of the same model, different robots, or even models of different brands, we propose to work
|
||||
in the centered nominal degree range ]-180, 180[.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.motor_names
|
||||
|
||||
# Convert from unsigned int32 original range [0, 2**32] to signed float32 range
|
||||
values = values.astype(np.float32)
|
||||
|
||||
for i, name in enumerate(motor_names):
|
||||
calib_idx = self.calibration["motor_names"].index(name)
|
||||
calib_mode = self.calibration["calib_mode"][calib_idx]
|
||||
|
||||
if CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
|
||||
start_pos = self.calibration["start_pos"][calib_idx]
|
||||
end_pos = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
# Rescale the present position to a nominal range [0, 100] %,
|
||||
# useful for joints with linear motions like Aloha gripper
|
||||
values[i] = (values[i] - start_pos) / (end_pos - start_pos) * 100
|
||||
|
||||
if (values[i] < LOWER_BOUND_LINEAR) or (values[i] > UPPER_BOUND_LINEAR):
|
||||
if name == "pinky_1" and (values[i] < LOWER_BOUND_LINEAR):
|
||||
values[i] = end_pos
|
||||
else:
|
||||
msg = (
|
||||
f"Wrong motor position range detected for {name}. "
|
||||
f"Expected to be in nominal range of [0, 100] % (a full linear translation), "
|
||||
f"with a maximum range of [{LOWER_BOUND_LINEAR}, {UPPER_BOUND_LINEAR}] % to account for some imprecision during calibration, "
|
||||
f"but present value is {values[i]} %. "
|
||||
"This might be due to a cable connection issue creating an artificial jump in motor values. "
|
||||
"You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`"
|
||||
)
|
||||
print(msg)
|
||||
# raise JointOutOfRangeError(msg)
|
||||
|
||||
return values
|
||||
|
||||
# def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
|
||||
# """Inverse of `apply_calibration`."""
|
||||
# if motor_names is None:
|
||||
# motor_names = self.motor_names
|
||||
|
||||
# for i, name in enumerate(motor_names):
|
||||
# calib_idx = self.calibration["motor_names"].index(name)
|
||||
# calib_mode = self.calibration["calib_mode"][calib_idx]
|
||||
|
||||
# if CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
|
||||
# start_pos = self.calibration["start_pos"][calib_idx]
|
||||
# end_pos = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
# # Convert from nominal lnear range of [0, 100] % to
|
||||
# # actual motor range of values which can be arbitrary.
|
||||
# values[i] = values[i] / 100 * (end_pos - start_pos) + start_pos
|
||||
|
||||
# values = np.round(values).astype(np.int32)
|
||||
# return values
|
||||
|
||||
|
||||
class HopeJuniorRobot:
|
||||
def __init__(self):
|
||||
self.arm_bus = FeetechMotorsBus(
|
||||
port="/dev/tty.usbmodem58760429571",
|
||||
motors={
|
||||
# "motor1": (2, "sts3250"),
|
||||
# "motor2": (1, "scs0009"),
|
||||
"shoulder_pitch": [1, "sts3250"],
|
||||
"shoulder_yaw": [2, "sts3215"], # TODO: sts3250
|
||||
"shoulder_roll": [3, "sts3215"], # TODO: sts3250
|
||||
"elbow_flex": [4, "sts3250"],
|
||||
"wrist_roll": [5, "sts3215"],
|
||||
"wrist_yaw": [6, "sts3215"],
|
||||
"wrist_pitch": [7, "sts3215"],
|
||||
},
|
||||
protocol_version=0,
|
||||
)
|
||||
self.hand_bus = FeetechMotorsBus(
|
||||
port="/dev/tty.usbmodem585A0077581",
|
||||
motors={
|
||||
"thumb_basel_rotation": [30, "scs0009"],
|
||||
"thumb_flexor": [27, "scs0009"],
|
||||
"thumb_pinky_side": [26, "scs0009"],
|
||||
"thumb_thumb_side": [28, "scs0009"],
|
||||
"index_flexor": [25, "scs0009"],
|
||||
"index_pinky_side": [31, "scs0009"],
|
||||
"index_thumb_side": [32, "scs0009"],
|
||||
"middle_flexor": [24, "scs0009"],
|
||||
"middle_pinky_side": [33, "scs0009"],
|
||||
"middle_thumb_side": [34, "scs0009"],
|
||||
"ring_flexor": [21, "scs0009"],
|
||||
"ring_pinky_side": [36, "scs0009"],
|
||||
"ring_thumb_side": [35, "scs0009"],
|
||||
"pinky_flexor": [23, "scs0009"],
|
||||
"pinky_pinky_side": [38, "scs0009"],
|
||||
"pinky_thumb_side": [37, "scs0009"],
|
||||
},
|
||||
protocol_version=1,
|
||||
group_sync_read=False,
|
||||
)
|
||||
|
||||
def get_hand_calibration(self):
|
||||
homing_offset = [0] * len(self.hand_bus.motor_names)
|
||||
drive_mode = [0] * len(self.hand_bus.motor_names)
|
||||
|
||||
start_pos = [
|
||||
500,
|
||||
900,
|
||||
1000,
|
||||
0,
|
||||
100,
|
||||
250,
|
||||
750,
|
||||
100,
|
||||
400,
|
||||
150,
|
||||
100,
|
||||
120,
|
||||
980,
|
||||
100,
|
||||
950,
|
||||
750,
|
||||
]
|
||||
|
||||
end_pos = [
|
||||
500 - 250,
|
||||
900 - 300,
|
||||
1000 - 550,
|
||||
0 + 550,
|
||||
1000,
|
||||
250 + 700,
|
||||
750 - 700,
|
||||
1000,
|
||||
400 + 700,
|
||||
150 + 700,
|
||||
1000,
|
||||
120 + 700,
|
||||
980 - 700,
|
||||
1000,
|
||||
950 - 700,
|
||||
750 - 700,
|
||||
]
|
||||
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.hand_bus.motor_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": start_pos,
|
||||
"end_pos": end_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.hand_bus.motor_names,
|
||||
}
|
||||
return calib_dict
|
||||
|
||||
def connect(self):
|
||||
self.arm_bus.connect()
|
||||
self.hand_bus.connect()
|
||||
|
||||
|
||||
ESCAPE_KEY_ID = 27
|
||||
|
||||
|
||||
def capture_and_display_processed_frames(
|
||||
frame_processor: Callable[[np.ndarray], np.ndarray],
|
||||
window_display_name: str,
|
||||
cap_device: int = 0,
|
||||
) -> None:
|
||||
"""
|
||||
Capture frames from the given input camera device, run them through
|
||||
the frame processor, and display the outputs in a window with the given name.
|
||||
|
||||
User should press Esc to exit.
|
||||
|
||||
Inputs:
|
||||
frame_processor: Callable[[np.ndarray], np.ndarray]
|
||||
Processes frames.
|
||||
Input and output are numpy arrays of shape (H W C) with BGR channel layout and dtype uint8 / byte.
|
||||
window_display_name: str
|
||||
Name of the window used to display frames.
|
||||
cap_device: int
|
||||
Identifier for the camera to use to capture frames.
|
||||
"""
|
||||
cv2.namedWindow(window_display_name)
|
||||
capture = cv2.VideoCapture(cap_device)
|
||||
if not capture.isOpened():
|
||||
raise ValueError("Unable to open video capture.")
|
||||
|
||||
frame_count = 0
|
||||
has_frame, frame = capture.read()
|
||||
while has_frame:
|
||||
assert isinstance(frame, np.ndarray)
|
||||
|
||||
frame_count = frame_count + 1
|
||||
# mirror frame
|
||||
frame = np.ascontiguousarray(frame[:, ::-1, ::-1])
|
||||
|
||||
# process & show frame
|
||||
processed_frame = frame_processor(frame)
|
||||
cv2.imshow(window_display_name, processed_frame[:, :, ::-1])
|
||||
|
||||
has_frame, frame = capture.read()
|
||||
key = cv2.waitKey(1)
|
||||
if key == ESCAPE_KEY_ID:
|
||||
break
|
||||
|
||||
capture.release()
|
||||
|
||||
|
||||
def main():
|
||||
robot = HopeJuniorRobot()
|
||||
robot.connect()
|
||||
|
||||
# robot.hand_bus.calibration = None
|
||||
|
||||
# breakpoint()
|
||||
# print(robot.arm_bus.read("Present_Position"))
|
||||
robot.arm_bus.write("Torque_Enable", 1)
|
||||
robot.arm_bus.write("Acceleration", 20)
|
||||
robot.arm_bus.read("Acceleration")
|
||||
|
||||
calibration = robot.get_hand_calibration()
|
||||
robot.hand_bus.write("Goal_Position", calibration["start_pos"])
|
||||
# robot.hand_bus.write("Goal_Position", calibration["end_pos"][:4], robot.hand_bus.motor_names[:4])
|
||||
robot.hand_bus.set_calibration(calibration)
|
||||
lol = 1
|
||||
|
||||
# # print(motors_bus.write("Goal_Position", 500))
|
||||
# print(robot.hand_bus.read("Present_Position"))
|
||||
# # pos = hand_bus.read("Present_Position")
|
||||
# # hand_bus.write("Goal_Position", pos[0]+20, hand_bus.motor_names[0])
|
||||
# # hand_bus.write("Goal_Position", pos[i]+delta, hand_bus.motor_names[i])
|
||||
# robot.hand_bus.read("Acceleration")
|
||||
# robot.hand_bus.write("Acceleration", 10)
|
||||
|
||||
# sleep = 1
|
||||
# # robot.hand_bus.write(
|
||||
# # "Goal_Position", [glove.last_d['index_2']-1500,300,300], ["index_pinky_side", "index_flexor", "index_thumb_side"]
|
||||
# # )
|
||||
# #time.sleep(sleep)
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [100, 100, 100], ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [100, 0, 0], ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [200, 200, 0], ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [200, 100, 600], ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
|
||||
# breakpoint()
|
||||
|
||||
glove = HomonculusGlove()
|
||||
glove.run_calibration()
|
||||
# while True:
|
||||
# joint_names = ["index_1", "index_2"]
|
||||
# joint_values = glove.read(joint_names)
|
||||
# print(joint_values)
|
||||
|
||||
input()
|
||||
while True:
|
||||
joint_names = []
|
||||
joint_names += ["thumb_0", "thumb_2", "thumb_3"]
|
||||
joint_names += ["index_1", "index_2"]
|
||||
joint_names += ["middle_1", "middle_2"]
|
||||
joint_names += ["ring_1", "ring_2"]
|
||||
joint_names += ["pinky_1", "pinky_2"]
|
||||
joint_values = glove.read(joint_names)
|
||||
joint_values = joint_values.round().astype(int)
|
||||
joint_dict = {k: v for k, v in zip(joint_names, joint_values, strict=False)}
|
||||
|
||||
motor_values = []
|
||||
motor_names = []
|
||||
motor_names += ["thumb_basel_rotation", "thumb_flexor", "thumb_pinky_side", "thumb_thumb_side"]
|
||||
motor_values += [
|
||||
joint_dict["thumb_3"],
|
||||
joint_dict["thumb_0"],
|
||||
joint_dict["thumb_2"],
|
||||
joint_dict["thumb_2"],
|
||||
]
|
||||
motor_names += ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
motor_values += [joint_dict["index_2"], joint_dict["index_1"], joint_dict["index_1"]]
|
||||
motor_names += ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
motor_values += [joint_dict["middle_2"], joint_dict["middle_1"], joint_dict["middle_1"]]
|
||||
motor_names += ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
motor_values += [joint_dict["ring_2"], joint_dict["ring_1"], joint_dict["ring_1"]]
|
||||
motor_names += ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
|
||||
motor_values += [joint_dict["pinky_2"], joint_dict["pinky_1"], joint_dict["pinky_1"]]
|
||||
|
||||
motor_values = np.array(motor_values)
|
||||
motor_values = np.clip(motor_values, 0, 100)
|
||||
|
||||
robot.hand_bus.write("Goal_Position", motor_values, motor_names)
|
||||
time.sleep(0.02)
|
||||
|
||||
while True:
|
||||
# print(glove.read()['index_2']-1500)
|
||||
glove_index_flexor = glove.read()["index_2"] - 1500
|
||||
glove_index_subflexor = glove.read()["index_1"] - 1500
|
||||
glove_index_side = glove.read()["index_0"] - 2100
|
||||
|
||||
vals = [glove_index_flexor, 1000 - (glove_index_subflexor), glove_index_subflexor]
|
||||
|
||||
keys = ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
|
||||
glove_middle_flexor = glove.read()["middle_2"] - 1500
|
||||
glove_middle_subflexor = 1000 - (glove.read()["middle_1"] - 1700)
|
||||
vals += [glove_middle_flexor, glove_middle_subflexor, glove_middle_subflexor - 200]
|
||||
keys += ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
|
||||
glove_ring_flexor = glove.read()["ring_2"] - 1300
|
||||
print(glove_ring_flexor)
|
||||
glove_ring_subflexor = glove.read()["ring_1"] - 1100
|
||||
|
||||
vals += [glove_ring_flexor, 1000 - glove_ring_subflexor, glove_ring_subflexor]
|
||||
keys += ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
|
||||
glove_pinky_flexor = glove.read()["pinky_2"] - 1500
|
||||
glove_pinky_subflexor = glove.read()["pinky_1"] - 1300
|
||||
vals += [300 + glove_pinky_flexor, max(1000 - glove_pinky_subflexor - 100, 0), glove_pinky_subflexor]
|
||||
keys += ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
|
||||
robot.hand_bus.write("Goal_Position", vals, keys)
|
||||
time.sleep(0.1)
|
||||
|
||||
time.sleep(3)
|
||||
|
||||
def move_arm(loop=10):
|
||||
sleep = 1
|
||||
for i in range(loop):
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1195])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 2195])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1457, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 2357, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 974, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 2674, 1957, 1695])
|
||||
time.sleep(sleep + 2)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 1632, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 1369, 1632, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 1330, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [2381, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1681, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
|
||||
def move_hand(loop=10):
|
||||
sleep = 0.5
|
||||
for i in range(loop):
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[500, 1000, 0, 1000],
|
||||
["thumb_basel_rotation", "thumb_flexor", "thumb_pinky_side", "thumb_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [100, 100, 100], ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [100, 1000, 150], ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [200, 200, 0], ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [200, 100, 700], ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[500, 1000 - 250, 0 + 300, 1000 - 200],
|
||||
["thumb_basel_rotation", "thumb_flexor", "thumb_pinky_side", "thumb_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[100 + 450, 100 + 400, 100 + 400],
|
||||
["index_flexor", "index_pinky_side", "index_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[100 + 350, 1000 - 450, 150 + 450],
|
||||
["middle_flexor", "middle_pinky_side", "middle_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[200 + 650, 200 + 350, 0 + 350],
|
||||
["ring_flexor", "ring_pinky_side", "ring_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[200 + 450, 100 + 400, 700 - 400],
|
||||
["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
|
||||
move_hand(3)
|
||||
|
||||
move_arm(1)
|
||||
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
|
||||
with ThreadPoolExecutor() as executor:
|
||||
executor.submit(move_arm)
|
||||
executor.submit(move_hand)
|
||||
|
||||
# initial position
|
||||
for i in range(3):
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [500, 1000, 0, 1000, 100, 950, 100, 100, 1000, 150, 200, 200, 0, 200, 100, 700]
|
||||
)
|
||||
time.sleep(1)
|
||||
|
||||
# for i in range(3):
|
||||
# robot.hand_bus.write("Goal_Position", [500, 1000-150, 0+250, 1000-150,
|
||||
# 100+300, 950-250, 100+250,
|
||||
# 100+200, 1000-300, 150+300,
|
||||
# 200+500, 200+200, 0+200,
|
||||
# 200+300, 100+200, 700-200])
|
||||
# time.sleep(1)
|
||||
|
||||
# camera = 0
|
||||
# score_threshold = 0.95
|
||||
# iou_threshold = 0.3
|
||||
|
||||
# app = MediaPipeHandApp(MediaPipeHand.from_pretrained(), score_threshold, iou_threshold)
|
||||
|
||||
# def frame_processor(frame: np.ndarray) -> np.ndarray:
|
||||
# # Input Prep
|
||||
# NHWC_int_numpy_frames, NCHW_fp32_torch_frames = app_to_net_image_inputs(frame)
|
||||
|
||||
# # Run Bounding Box & Keypoint Detector
|
||||
# batched_selected_boxes, batched_selected_keypoints = app._run_box_detector(NCHW_fp32_torch_frames)
|
||||
|
||||
# # The region of interest ( bounding box of 4 (x, y) corners).
|
||||
# # list[torch.Tensor(shape=[Num Boxes, 4, 2])],
|
||||
# # where 2 == (x, y)
|
||||
# #
|
||||
# # A list element will be None if there is no selected ROI.
|
||||
# batched_roi_4corners = app._compute_object_roi(batched_selected_boxes, batched_selected_keypoints)
|
||||
|
||||
# # selected landmarks for the ROI (if any)
|
||||
# # list[torch.Tensor(shape=[Num Selected Landmarks, K, 3])],
|
||||
# # where K == number of landmark keypoints, 3 == (x, y, confidence)
|
||||
# #
|
||||
# # A list element will be None if there is no ROI.
|
||||
# landmarks_out = app._run_landmark_detector(NHWC_int_numpy_frames, batched_roi_4corners)
|
||||
|
||||
# app._draw_predictions(
|
||||
# NHWC_int_numpy_frames,
|
||||
# batched_selected_boxes,
|
||||
# batched_selected_keypoints,
|
||||
# batched_roi_4corners,
|
||||
# *landmarks_out,
|
||||
# )
|
||||
|
||||
# return NHWC_int_numpy_frames[0]
|
||||
|
||||
# capture_and_display_processed_frames(frame_processor, "QAIHM Mediapipe Hand Demo", camera)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
133
examples/test2.py
Normal file
133
examples/test2.py
Normal file
@@ -0,0 +1,133 @@
|
||||
#!/usr/bin/env python
|
||||
#
|
||||
# ********* Ping Example *********
|
||||
#
|
||||
#
|
||||
# Available SCServo model on this example : All models using Protocol SCS
|
||||
# This example is tested with a SCServo(STS/SMS/SCS), and an URT
|
||||
# Be sure that SCServo(STS/SMS/SCS) properties are already set as %% ID : 1 / Baudnum : 6 (Baudrate : 1000000)
|
||||
#
|
||||
|
||||
import os
|
||||
|
||||
if os.name == "nt":
|
||||
import msvcrt
|
||||
|
||||
def getch():
|
||||
return msvcrt.getch().decode()
|
||||
else:
|
||||
import sys
|
||||
import termios
|
||||
import tty
|
||||
|
||||
fd = sys.stdin.fileno()
|
||||
old_settings = termios.tcgetattr(fd)
|
||||
|
||||
def getch():
|
||||
try:
|
||||
tty.setraw(sys.stdin.fileno())
|
||||
ch = sys.stdin.read(1)
|
||||
finally:
|
||||
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
|
||||
return ch
|
||||
|
||||
|
||||
from scservo_sdk import * # Uses SCServo SDK library
|
||||
|
||||
# Default setting
|
||||
SCS_ID = 1 # SCServo ID : 1
|
||||
BAUDRATE = 1000000 # SCServo default baudrate : 1000000
|
||||
DEVICENAME = "/dev/tty.usbserial-2130" # Check which port is being used on your controller
|
||||
# ex) Windows: "COM1" Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
|
||||
|
||||
protocol_end = 1 # SCServo bit end(STS/SMS=0, SCS=1)
|
||||
|
||||
# Initialize PortHandler instance
|
||||
# Set the port path
|
||||
# Get methods and members of PortHandlerLinux or PortHandlerWindows
|
||||
portHandler = PortHandler(DEVICENAME)
|
||||
|
||||
# Initialize PacketHandler instance
|
||||
# Get methods and members of Protocol
|
||||
packetHandler = PacketHandler(protocol_end)
|
||||
|
||||
# Open port
|
||||
if portHandler.openPort():
|
||||
print("Succeeded to open the port")
|
||||
else:
|
||||
print("Failed to open the port")
|
||||
print("Press any key to terminate...")
|
||||
getch()
|
||||
quit()
|
||||
|
||||
|
||||
# Set port baudrate
|
||||
if portHandler.setBaudRate(BAUDRATE):
|
||||
print("Succeeded to change the baudrate")
|
||||
else:
|
||||
print("Failed to change the baudrate")
|
||||
print("Press any key to terminate...")
|
||||
getch()
|
||||
quit()
|
||||
|
||||
# Try to ping the SCServo
|
||||
# Get SCServo model number
|
||||
scs_model_number, scs_comm_result, scs_error = packetHandler.ping(portHandler, SCS_ID)
|
||||
if scs_comm_result != COMM_SUCCESS:
|
||||
print("%s" % packetHandler.getTxRxResult(scs_comm_result))
|
||||
elif scs_error != 0:
|
||||
print("%s" % packetHandler.getRxPacketError(scs_error))
|
||||
else:
|
||||
print("[ID:%03d] ping Succeeded. SCServo model number : %d" % (SCS_ID, scs_model_number))
|
||||
|
||||
|
||||
ADDR_SCS_PRESENT_POSITION = 56
|
||||
scs_present_position, scs_comm_result, scs_error = packetHandler.read2ByteTxRx(
|
||||
portHandler, SCS_ID, ADDR_SCS_PRESENT_POSITION
|
||||
)
|
||||
if scs_comm_result != COMM_SUCCESS:
|
||||
print(packetHandler.getTxRxResult(scs_comm_result))
|
||||
elif scs_error != 0:
|
||||
print(packetHandler.getRxPacketError(scs_error))
|
||||
|
||||
breakpoint()
|
||||
scs_present_position = SCS_LOWORD(scs_present_position)
|
||||
# scs_present_speed = SCS_HIWORD(scs_present_position_speed)
|
||||
# print("[ID:%03d] PresPos:%03d PresSpd:%03d" % (SCS_ID, scs_present_position, SCS_TOHOST(scs_present_speed, 15)))
|
||||
print("[ID:%03d] PresPos:%03d" % (SCS_ID, scs_present_position))
|
||||
|
||||
groupSyncRead = GroupSyncRead(portHandler, packetHandler, ADDR_SCS_PRESENT_POSITION, 2)
|
||||
|
||||
scs_addparam_result = groupSyncRead.addParam(SCS_ID)
|
||||
if scs_addparam_result != True:
|
||||
print("[ID:%03d] groupSyncRead addparam failed" % SCS_ID)
|
||||
quit()
|
||||
|
||||
# Syncread present position
|
||||
scs_comm_result = groupSyncRead.txRxPacket()
|
||||
if scs_comm_result != COMM_SUCCESS:
|
||||
print("%s" % packetHandler.getTxRxResult(scs_comm_result))
|
||||
|
||||
# Check if groupsyncread data of SCServo#1 is available
|
||||
scs_getdata_result = groupSyncRead.isAvailable(SCS_ID, ADDR_SCS_PRESENT_POSITION, 2)
|
||||
if scs_getdata_result == True:
|
||||
# Get SCServo#1 present position value
|
||||
scs_present_position = groupSyncRead.getData(SCS_ID, ADDR_SCS_PRESENT_POSITION, 2)
|
||||
else:
|
||||
scs_present_position = 0
|
||||
print("[ID:%03d] groupSyncRead getdata failed" % SCS_ID)
|
||||
|
||||
# # Check if groupsyncread data of SCServo#2 is available
|
||||
# scs_getdata_result = groupSyncRead.isAvailable(SCS2_ID, ADDR_SCS_PRESENT_POSITION, 2)
|
||||
# if scs_getdata_result == True:
|
||||
# # Get SCServo#2 present position value
|
||||
# scs2_present_position_speed = groupSyncRead.getData(SCS2_ID, ADDR_SCS_PRESENT_POSITION, 2)
|
||||
# else:
|
||||
# print("[ID:%03d] groupSyncRead getdata failed" % SCS2_ID)
|
||||
|
||||
scs_present_position = SCS_LOWORD(scs_present_position)
|
||||
print("[ID:%03d] PresPos:%03d" % (SCS_ID, scs_present_position))
|
||||
|
||||
|
||||
# Close port
|
||||
portHandler.closePort()
|
||||
45
examples/test3.py
Normal file
45
examples/test3.py
Normal file
@@ -0,0 +1,45 @@
|
||||
import serial
|
||||
|
||||
|
||||
class HomonculusGlove:
|
||||
def __init__(self):
|
||||
self.serial_port = "/dev/tty.usbmodem1101"
|
||||
self.baud_rate = 115200
|
||||
self.serial = serial.Serial(self.serial_port, self.baud_rate, timeout=1)
|
||||
|
||||
def read(self):
|
||||
while True:
|
||||
if self.serial.in_waiting > 0:
|
||||
vals = self.serial.readline().decode("utf-8").strip()
|
||||
vals = vals.split(" ")
|
||||
vals = [int(val) for val in vals]
|
||||
|
||||
d = {
|
||||
"thumb_0": vals[0],
|
||||
"thumb_1": vals[1],
|
||||
"thumb_2": vals[2],
|
||||
"thumb_3": vals[3],
|
||||
"index_0": vals[4],
|
||||
"index_1": vals[5],
|
||||
"index_2": vals[6],
|
||||
"middle_0": vals[7],
|
||||
"middle_1": vals[8],
|
||||
"middle_2": vals[9],
|
||||
"ring_0": vals[10],
|
||||
"ring_1": vals[11],
|
||||
"ring_2": vals[12],
|
||||
"pinky_0": vals[13],
|
||||
"pinky_1": vals[14],
|
||||
"pinky_2": vals[15],
|
||||
}
|
||||
return d
|
||||
|
||||
# if ser.in_waiting > 0:
|
||||
# line = ser.readline().decode('utf-8').strip()
|
||||
# print(line)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
glove = HomonculusGlove()
|
||||
d = glove.read()
|
||||
lol = 1
|
||||
693
examples/test4.py
Normal file
693
examples/test4.py
Normal file
@@ -0,0 +1,693 @@
|
||||
import threading
|
||||
import time
|
||||
from typing import Callable
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
|
||||
# from qai_hub_models.models.mediapipe_hand.app import MediaPipeHandApp
|
||||
# from qai_hub_models.models.mediapipe_hand.model import (
|
||||
# MediaPipeHand,
|
||||
# )
|
||||
# from qai_hub_models.utils.image_processing import (
|
||||
# app_to_net_image_inputs,
|
||||
# )
|
||||
from lerobot.common.robot_devices.motors.feetech import (
|
||||
CalibrationMode,
|
||||
FeetechMotorsBus,
|
||||
)
|
||||
|
||||
LOWER_BOUND_LINEAR = -100
|
||||
UPPER_BOUND_LINEAR = 200
|
||||
|
||||
import serial
|
||||
|
||||
|
||||
class HomonculusGlove:
|
||||
def __init__(self):
|
||||
self.serial_port = "/dev/tty.usbmodem1401"
|
||||
self.baud_rate = 115200
|
||||
self.serial = serial.Serial(self.serial_port, self.baud_rate, timeout=1)
|
||||
self.thread = threading.Thread(target=self.async_read)
|
||||
self.thread.start()
|
||||
self.last_d = {
|
||||
"thumb_0": 100,
|
||||
"thumb_1": 100,
|
||||
"thumb_2": 100,
|
||||
"thumb_3": 100,
|
||||
"index_0": 100,
|
||||
"index_1": 100,
|
||||
"index_2": 100,
|
||||
"middle_0": 100,
|
||||
"middle_1": 100,
|
||||
"middle_2": 100,
|
||||
"ring_0": 100,
|
||||
"ring_1": 100,
|
||||
"ring_2": 100,
|
||||
"pinky_0": 100,
|
||||
"pinky_1": 100,
|
||||
"pinky_2": 100,
|
||||
"battery_voltage": 100,
|
||||
}
|
||||
self.calibration = None
|
||||
|
||||
@property
|
||||
def joint_names(self):
|
||||
return list(self.last_d.keys())
|
||||
|
||||
def read(self, motor_names: list[str] | None = None):
|
||||
if motor_names is None:
|
||||
motor_names = self.joint_names
|
||||
|
||||
values = np.array([self.last_d[k] for k in motor_names])
|
||||
|
||||
print(motor_names)
|
||||
print(values)
|
||||
|
||||
if self.calibration is not None:
|
||||
values = self.apply_calibration(values, motor_names)
|
||||
print(values)
|
||||
return values
|
||||
|
||||
def async_read(self):
|
||||
while True:
|
||||
if self.serial.in_waiting > 0:
|
||||
self.serial.flush()
|
||||
vals = self.serial.readline().decode("utf-8").strip()
|
||||
vals = vals.split(" ")
|
||||
if len(vals) != 17:
|
||||
continue
|
||||
vals = [int(val) for val in vals]
|
||||
|
||||
d = {
|
||||
"thumb_0": vals[0],
|
||||
"thumb_1": vals[1],
|
||||
"thumb_2": vals[2],
|
||||
"thumb_3": vals[3],
|
||||
"index_0": vals[4],
|
||||
"index_1": vals[5],
|
||||
"index_2": vals[6],
|
||||
"middle_0": vals[7],
|
||||
"middle_1": vals[8],
|
||||
"middle_2": vals[9],
|
||||
"ring_0": vals[10],
|
||||
"ring_1": vals[11],
|
||||
"ring_2": vals[12],
|
||||
"pinky_0": vals[13],
|
||||
"pinky_1": vals[14],
|
||||
"pinky_2": vals[15],
|
||||
"battery_voltage": vals[16],
|
||||
}
|
||||
self.last_d = d
|
||||
# print(d.values())
|
||||
|
||||
def run_calibration(self):
|
||||
print("\nMove arm to open position")
|
||||
input("Press Enter to continue...")
|
||||
open_pos_list = []
|
||||
for _ in range(300):
|
||||
open_pos = self.read()
|
||||
open_pos_list.append(open_pos)
|
||||
time.sleep(0.01)
|
||||
open_pos = np.array(open_pos_list)
|
||||
max_open_pos = open_pos.max(axis=0)
|
||||
min_open_pos = open_pos.min(axis=0)
|
||||
|
||||
print(f"{max_open_pos=}")
|
||||
print(f"{min_open_pos=}")
|
||||
|
||||
print("\nMove arm to closed position")
|
||||
input("Press Enter to continue...")
|
||||
closed_pos_list = []
|
||||
for _ in range(300):
|
||||
closed_pos = self.read()
|
||||
closed_pos_list.append(closed_pos)
|
||||
time.sleep(0.01)
|
||||
closed_pos = np.array(closed_pos_list)
|
||||
max_closed_pos = closed_pos.max(axis=0)
|
||||
closed_pos[closed_pos < 1000] = 60000
|
||||
min_closed_pos = closed_pos.min(axis=0)
|
||||
|
||||
print(f"{max_closed_pos=}")
|
||||
print(f"{min_closed_pos=}")
|
||||
|
||||
open_pos = np.array([max_open_pos, max_closed_pos]).max(axis=0)
|
||||
closed_pos = np.array([min_open_pos, min_closed_pos]).min(axis=0)
|
||||
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
# INVERTION
|
||||
for i, jname in enumerate(self.joint_names):
|
||||
if jname in [
|
||||
"thumb_0",
|
||||
"thumb_3",
|
||||
"index_2",
|
||||
"middle_2",
|
||||
"ring_2",
|
||||
"pinky_0",
|
||||
"pinky_2",
|
||||
"index_0",
|
||||
]:
|
||||
tmp_pos = open_pos[i]
|
||||
open_pos[i] = closed_pos[i]
|
||||
closed_pos[i] = tmp_pos
|
||||
|
||||
print()
|
||||
print(f"{open_pos=}")
|
||||
print(f"{closed_pos=}")
|
||||
|
||||
homing_offset = [0] * len(self.joint_names)
|
||||
drive_mode = [0] * len(self.joint_names)
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.joint_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": open_pos,
|
||||
"end_pos": closed_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.joint_names,
|
||||
}
|
||||
# return calib_dict
|
||||
self.set_calibration(calib_dict)
|
||||
|
||||
def set_calibration(self, calibration: dict[str, list]):
|
||||
self.calibration = calibration
|
||||
|
||||
def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
|
||||
"""Convert from unsigned int32 joint position range [0, 2**32[ to the universal float32 nominal degree range ]-180.0, 180.0[ with
|
||||
a "zero position" at 0 degree.
|
||||
|
||||
Note: We say "nominal degree range" since the motors can take values outside this range. For instance, 190 degrees, if the motor
|
||||
rotate more than a half a turn from the zero position. However, most motors can't rotate more than 180 degrees and will stay in this range.
|
||||
|
||||
Joints values are original in [0, 2**32[ (unsigned int32). Each motor are expected to complete a full rotation
|
||||
when given a goal position that is + or - their resolution. For instance, feetech xl330-m077 have a resolution of 4096, and
|
||||
at any position in their original range, let's say the position 56734, they complete a full rotation clockwise by moving to 60830,
|
||||
or anticlockwise by moving to 52638. The position in the original range is arbitrary and might change a lot between each motor.
|
||||
To harmonize between motors of the same model, different robots, or even models of different brands, we propose to work
|
||||
in the centered nominal degree range ]-180, 180[.
|
||||
"""
|
||||
if motor_names is None:
|
||||
motor_names = self.motor_names
|
||||
|
||||
# Convert from unsigned int32 original range [0, 2**32] to signed float32 range
|
||||
values = values.astype(np.float32)
|
||||
|
||||
for i, name in enumerate(motor_names):
|
||||
calib_idx = self.calibration["motor_names"].index(name)
|
||||
calib_mode = self.calibration["calib_mode"][calib_idx]
|
||||
|
||||
if CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
|
||||
start_pos = self.calibration["start_pos"][calib_idx]
|
||||
end_pos = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
# Rescale the present position to a nominal range [0, 100] %,
|
||||
# useful for joints with linear motions like Aloha gripper
|
||||
values[i] = (values[i] - start_pos) / (end_pos - start_pos) * 100
|
||||
|
||||
if (values[i] < LOWER_BOUND_LINEAR) or (values[i] > UPPER_BOUND_LINEAR):
|
||||
if name == "pinky_1" and (values[i] < LOWER_BOUND_LINEAR):
|
||||
values[i] = end_pos
|
||||
else:
|
||||
msg = (
|
||||
f"Wrong motor position range detected for {name}. "
|
||||
f"Expected to be in nominal range of [0, 100] % (a full linear translation), "
|
||||
f"with a maximum range of [{LOWER_BOUND_LINEAR}, {UPPER_BOUND_LINEAR}] % to account for some imprecision during calibration, "
|
||||
f"but present value is {values[i]} %. "
|
||||
"This might be due to a cable connection issue creating an artificial jump in motor values. "
|
||||
"You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`"
|
||||
)
|
||||
print(msg)
|
||||
# raise JointOutOfRangeError(msg)
|
||||
|
||||
return values
|
||||
|
||||
# def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
|
||||
# """Inverse of `apply_calibration`."""
|
||||
# if motor_names is None:
|
||||
# motor_names = self.motor_names
|
||||
|
||||
# for i, name in enumerate(motor_names):
|
||||
# calib_idx = self.calibration["motor_names"].index(name)
|
||||
# calib_mode = self.calibration["calib_mode"][calib_idx]
|
||||
|
||||
# if CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
|
||||
# start_pos = self.calibration["start_pos"][calib_idx]
|
||||
# end_pos = self.calibration["end_pos"][calib_idx]
|
||||
|
||||
# # Convert from nominal lnear range of [0, 100] % to
|
||||
# # actual motor range of values which can be arbitrary.
|
||||
# values[i] = values[i] / 100 * (end_pos - start_pos) + start_pos
|
||||
|
||||
# values = np.round(values).astype(np.int32)
|
||||
# return values
|
||||
|
||||
|
||||
class HopeJuniorRobot:
|
||||
def __init__(self):
|
||||
self.arm_bus = FeetechMotorsBus(
|
||||
port="/dev/tty.usbmodem58760429571",
|
||||
motors={
|
||||
# "motor1": (2, "sts3250"),
|
||||
# "motor2": (1, "scs0009"),
|
||||
"shoulder_pitch": [1, "sts3250"],
|
||||
"shoulder_yaw": [2, "sts3215"], # TODO: sts3250
|
||||
"shoulder_roll": [3, "sts3215"], # TODO: sts3250
|
||||
"elbow_flex": [4, "sts3250"],
|
||||
"wrist_roll": [5, "sts3215"],
|
||||
"wrist_yaw": [6, "sts3215"],
|
||||
"wrist_pitch": [7, "sts3215"],
|
||||
},
|
||||
protocol_version=0,
|
||||
)
|
||||
self.hand_bus = FeetechMotorsBus(
|
||||
port="/dev/tty.usbmodem585A0077581",
|
||||
motors={
|
||||
"thumb_basel_rotation": [30, "scs0009"],
|
||||
"thumb_flexor": [27, "scs0009"],
|
||||
"thumb_pinky_side": [26, "scs0009"],
|
||||
"thumb_thumb_side": [28, "scs0009"],
|
||||
"index_flexor": [25, "scs0009"],
|
||||
"index_pinky_side": [31, "scs0009"],
|
||||
"index_thumb_side": [32, "scs0009"],
|
||||
"middle_flexor": [24, "scs0009"],
|
||||
"middle_pinky_side": [33, "scs0009"],
|
||||
"middle_thumb_side": [34, "scs0009"],
|
||||
"ring_flexor": [21, "scs0009"],
|
||||
"ring_pinky_side": [36, "scs0009"],
|
||||
"ring_thumb_side": [35, "scs0009"],
|
||||
"pinky_flexor": [23, "scs0009"],
|
||||
"pinky_pinky_side": [38, "scs0009"],
|
||||
"pinky_thumb_side": [37, "scs0009"],
|
||||
},
|
||||
protocol_version=1,
|
||||
group_sync_read=False,
|
||||
)
|
||||
|
||||
def get_hand_calibration(self):
|
||||
homing_offset = [0] * len(self.hand_bus.motor_names)
|
||||
drive_mode = [0] * len(self.hand_bus.motor_names)
|
||||
|
||||
start_pos = [
|
||||
500,
|
||||
900,
|
||||
1000,
|
||||
0,
|
||||
100,
|
||||
250,
|
||||
750,
|
||||
100,
|
||||
400,
|
||||
150,
|
||||
100,
|
||||
120,
|
||||
980,
|
||||
100,
|
||||
950,
|
||||
750,
|
||||
]
|
||||
|
||||
end_pos = [
|
||||
500 - 250,
|
||||
900 - 300,
|
||||
1000 - 550,
|
||||
0 + 550,
|
||||
1000,
|
||||
start_pos[5] + 500,
|
||||
start_pos[6] - 500,
|
||||
1000,
|
||||
400 + 700,
|
||||
150 + 700,
|
||||
1000,
|
||||
120 + 700,
|
||||
980 - 700,
|
||||
1000,
|
||||
950 - 700,
|
||||
750 - 700,
|
||||
]
|
||||
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.hand_bus.motor_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": start_pos,
|
||||
"end_pos": end_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.hand_bus.motor_names,
|
||||
}
|
||||
return calib_dict
|
||||
|
||||
def connect(self):
|
||||
self.arm_bus.connect()
|
||||
self.hand_bus.connect()
|
||||
|
||||
|
||||
ESCAPE_KEY_ID = 27
|
||||
|
||||
|
||||
def capture_and_display_processed_frames(
|
||||
frame_processor: Callable[[np.ndarray], np.ndarray],
|
||||
window_display_name: str,
|
||||
cap_device: int = 0,
|
||||
) -> None:
|
||||
"""
|
||||
Capture frames from the given input camera device, run them through
|
||||
the frame processor, and display the outputs in a window with the given name.
|
||||
|
||||
User should press Esc to exit.
|
||||
|
||||
Inputs:
|
||||
frame_processor: Callable[[np.ndarray], np.ndarray]
|
||||
Processes frames.
|
||||
Input and output are numpy arrays of shape (H W C) with BGR channel layout and dtype uint8 / byte.
|
||||
window_display_name: str
|
||||
Name of the window used to display frames.
|
||||
cap_device: int
|
||||
Identifier for the camera to use to capture frames.
|
||||
"""
|
||||
cv2.namedWindow(window_display_name)
|
||||
capture = cv2.VideoCapture(cap_device)
|
||||
if not capture.isOpened():
|
||||
raise ValueError("Unable to open video capture.")
|
||||
|
||||
frame_count = 0
|
||||
has_frame, frame = capture.read()
|
||||
while has_frame:
|
||||
assert isinstance(frame, np.ndarray)
|
||||
|
||||
frame_count = frame_count + 1
|
||||
# mirror frame
|
||||
frame = np.ascontiguousarray(frame[:, ::-1, ::-1])
|
||||
|
||||
# process & show frame
|
||||
processed_frame = frame_processor(frame)
|
||||
cv2.imshow(window_display_name, processed_frame[:, :, ::-1])
|
||||
|
||||
has_frame, frame = capture.read()
|
||||
key = cv2.waitKey(1)
|
||||
if key == ESCAPE_KEY_ID:
|
||||
break
|
||||
|
||||
capture.release()
|
||||
|
||||
|
||||
def main():
|
||||
robot = HopeJuniorRobot()
|
||||
robot.connect()
|
||||
|
||||
# robot.hand_bus.calibration = None
|
||||
|
||||
# breakpoint()
|
||||
# print(robot.arm_bus.read("Present_Position"))
|
||||
robot.arm_bus.write("Torque_Enable", 1)
|
||||
robot.arm_bus.write("Acceleration", 20)
|
||||
robot.arm_bus.read("Acceleration")
|
||||
|
||||
calibration = robot.get_hand_calibration()
|
||||
robot.hand_bus.write("Goal_Position", calibration["start_pos"])
|
||||
# robot.hand_bus.write("Goal_Position", calibration["end_pos"][:4], robot.hand_bus.motor_names[:4])
|
||||
robot.hand_bus.set_calibration(calibration)
|
||||
lol = 1
|
||||
|
||||
# # print(motors_bus.write("Goal_Position", 500))
|
||||
# print(robot.hand_bus.read("Present_Position"))
|
||||
# # pos = hand_bus.read("Present_Position")
|
||||
# # hand_bus.write("Goal_Position", pos[0]+20, hand_bus.motor_names[0])
|
||||
# # hand_bus.write("Goal_Position", pos[i]+delta, hand_bus.motor_names[i])
|
||||
# robot.hand_bus.read("Acceleration")
|
||||
# robot.hand_bus.write("Acceleration", 10)
|
||||
|
||||
# sleep = 1
|
||||
# # robot.hand_bus.write(
|
||||
# # "Goal_Position", [glove.last_d['index_2']-1500,300,300], ["index_pinky_side", "index_flexor", "index_thumb_side"]
|
||||
# # )
|
||||
# #time.sleep(sleep)
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [100, 100, 100], ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [100, 0, 0], ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [200, 200, 0], ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
# robot.hand_bus.write(
|
||||
# "Goal_Position", [200, 100, 600], ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
# )
|
||||
# time.sleep(sleep)
|
||||
|
||||
# breakpoint()
|
||||
|
||||
glove = HomonculusGlove()
|
||||
glove.run_calibration()
|
||||
# while True:
|
||||
# joint_names = ["index_1", "index_2"]
|
||||
# joint_values = glove.read(joint_names)
|
||||
# print(joint_values)
|
||||
|
||||
input()
|
||||
while True:
|
||||
joint_names = []
|
||||
# joint_names += ["thumb_0", "thumb_2", "thumb_3"]
|
||||
joint_names += ["index_0", "index_1"]
|
||||
# joint_names += ["middle_1", "middle_2"]
|
||||
# joint_names += ["ring_1", "ring_2"]
|
||||
# joint_names += ["pinky_0", "pinky_2"]
|
||||
joint_values = glove.read(joint_names)
|
||||
joint_values = joint_values.round().astype(int)
|
||||
joint_dict = {k: v for k, v in zip(joint_names, joint_values, strict=False)}
|
||||
|
||||
motor_values = []
|
||||
motor_names = []
|
||||
# motor_names += ["thumb_basel_rotation", "thumb_flexor", "thumb_pinky_side", "thumb_thumb_side"]
|
||||
# motor_values += [joint_dict["thumb_3"], joint_dict["thumb_0"], joint_dict["thumb_2"], joint_dict["thumb_2"]]
|
||||
motor_names += ["index_pinky_side", "index_thumb_side"]
|
||||
# if joint_dict["index_0"] -2100 > 0:
|
||||
splayamount = 0.5
|
||||
motor_values += [
|
||||
(100 - joint_dict["index_0"]) * splayamount + joint_dict["index_1"] * (1 - splayamount),
|
||||
(joint_dict["index_0"]) * splayamount + joint_dict["index_1"] * (1 - splayamount),
|
||||
]
|
||||
# else:
|
||||
# motor_values += [100-joint_dict["index_0"], joint_dict["index_0"]]
|
||||
|
||||
# motor_names += ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
# motor_values += [joint_dict["middle_2"], joint_dict["middle_1"], joint_dict["middle_1"]]
|
||||
# motor_names += ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
# motor_values += [joint_dict["ring_2"], joint_dict["ring_1"], joint_dict["ring_1"]]
|
||||
# motor_names += ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
|
||||
# motor_values += [joint_dict["pinky_2"], joint_dict["pinky_0"], joint_dict["pinky_0"]]
|
||||
|
||||
motor_values = np.array(motor_values)
|
||||
motor_values = np.clip(motor_values, 0, 100)
|
||||
|
||||
robot.hand_bus.write("Goal_Position", motor_values, motor_names)
|
||||
time.sleep(0.02)
|
||||
|
||||
while True:
|
||||
# print(glove.read()['index_2']-1500)
|
||||
glove_index_flexor = glove.read()["index_2"] - 1500
|
||||
glove_index_subflexor = glove.read()["index_1"] - 1500
|
||||
glove_index_side = glove.read()["index_0"] - 2100
|
||||
|
||||
vals = [glove_index_flexor, 1000 - (glove_index_subflexor), glove_index_subflexor]
|
||||
|
||||
keys = ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
|
||||
glove_middle_flexor = glove.read()["middle_2"] - 1500
|
||||
glove_middle_subflexor = 1000 - (glove.read()["middle_1"] - 1700)
|
||||
vals += [glove_middle_flexor, glove_middle_subflexor, glove_middle_subflexor - 200]
|
||||
keys += ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
|
||||
glove_ring_flexor = glove.read()["ring_2"] - 1300
|
||||
print(glove_ring_flexor)
|
||||
glove_ring_subflexor = glove.read()["ring_1"] - 1100
|
||||
|
||||
vals += [glove_ring_flexor, 1000 - glove_ring_subflexor, glove_ring_subflexor]
|
||||
keys += ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
|
||||
glove_pinky_flexor = glove.read()["pinky_2"] - 1500
|
||||
glove_pinky_subflexor = glove.read()["pinky_1"] - 1300
|
||||
vals += [300 + glove_pinky_flexor, max(1000 - glove_pinky_subflexor - 100, 0), glove_pinky_subflexor]
|
||||
keys += ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
|
||||
robot.hand_bus.write("Goal_Position", vals, keys)
|
||||
time.sleep(0.1)
|
||||
|
||||
time.sleep(3)
|
||||
|
||||
def move_arm(loop=10):
|
||||
sleep = 1
|
||||
for i in range(loop):
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1195])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 2195])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1457, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 2357, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 974, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 2674, 1957, 1695])
|
||||
time.sleep(sleep + 2)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 1632, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 1369, 1632, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 1330, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [2381, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1681, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
|
||||
time.sleep(sleep)
|
||||
|
||||
def move_hand(loop=10):
|
||||
sleep = 0.5
|
||||
for i in range(loop):
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[500, 1000, 0, 1000],
|
||||
["thumb_basel_rotation", "thumb_flexor", "thumb_pinky_side", "thumb_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [100, 100, 100], ["index_flexor", "index_pinky_side", "index_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [100, 1000, 150], ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [200, 200, 0], ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [200, 100, 700], ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
|
||||
)
|
||||
time.sleep(sleep)
|
||||
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[500, 1000 - 250, 0 + 300, 1000 - 200],
|
||||
["thumb_basel_rotation", "thumb_flexor", "thumb_pinky_side", "thumb_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[100 + 450, 100 + 400, 100 + 400],
|
||||
["index_flexor", "index_pinky_side", "index_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[100 + 350, 1000 - 450, 150 + 450],
|
||||
["middle_flexor", "middle_pinky_side", "middle_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[200 + 650, 200 + 350, 0 + 350],
|
||||
["ring_flexor", "ring_pinky_side", "ring_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position",
|
||||
[200 + 450, 100 + 400, 700 - 400],
|
||||
["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"],
|
||||
)
|
||||
time.sleep(sleep)
|
||||
|
||||
move_hand(3)
|
||||
|
||||
move_arm(1)
|
||||
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
|
||||
with ThreadPoolExecutor() as executor:
|
||||
executor.submit(move_arm)
|
||||
executor.submit(move_hand)
|
||||
|
||||
# initial position
|
||||
for i in range(3):
|
||||
robot.hand_bus.write(
|
||||
"Goal_Position", [500, 1000, 0, 1000, 100, 950, 100, 100, 1000, 150, 200, 200, 0, 200, 100, 700]
|
||||
)
|
||||
time.sleep(1)
|
||||
|
||||
# for i in range(3):
|
||||
# robot.hand_bus.write("Goal_Position", [500, 1000-150, 0+250, 1000-150,
|
||||
# 100+300, 950-250, 100+250,
|
||||
# 100+200, 1000-300, 150+300,
|
||||
# 200+500, 200+200, 0+200,
|
||||
# 200+300, 100+200, 700-200])
|
||||
# time.sleep(1)
|
||||
|
||||
# camera = 0
|
||||
# score_threshold = 0.95
|
||||
# iou_threshold = 0.3
|
||||
|
||||
# app = MediaPipeHandApp(MediaPipeHand.from_pretrained(), score_threshold, iou_threshold)
|
||||
|
||||
# def frame_processor(frame: np.ndarray) -> np.ndarray:
|
||||
# # Input Prep
|
||||
# NHWC_int_numpy_frames, NCHW_fp32_torch_frames = app_to_net_image_inputs(frame)
|
||||
|
||||
# # Run Bounding Box & Keypoint Detector
|
||||
# batched_selected_boxes, batched_selected_keypoints = app._run_box_detector(NCHW_fp32_torch_frames)
|
||||
|
||||
# # The region of interest ( bounding box of 4 (x, y) corners).
|
||||
# # list[torch.Tensor(shape=[Num Boxes, 4, 2])],
|
||||
# # where 2 == (x, y)
|
||||
# #
|
||||
# # A list element will be None if there is no selected ROI.
|
||||
# batched_roi_4corners = app._compute_object_roi(batched_selected_boxes, batched_selected_keypoints)
|
||||
|
||||
# # selected landmarks for the ROI (if any)
|
||||
# # list[torch.Tensor(shape=[Num Selected Landmarks, K, 3])],
|
||||
# # where K == number of landmark keypoints, 3 == (x, y, confidence)
|
||||
# #
|
||||
# # A list element will be None if there is no ROI.
|
||||
# landmarks_out = app._run_landmark_detector(NHWC_int_numpy_frames, batched_roi_4corners)
|
||||
|
||||
# app._draw_predictions(
|
||||
# NHWC_int_numpy_frames,
|
||||
# batched_selected_boxes,
|
||||
# batched_selected_keypoints,
|
||||
# batched_roi_4corners,
|
||||
# *landmarks_out,
|
||||
# )
|
||||
|
||||
# return NHWC_int_numpy_frames[0]
|
||||
|
||||
# capture_and_display_processed_frames(frame_processor, "QAIHM Mediapipe Hand Demo", camera)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
97
examples/test_torque/faulty_servo.py
Normal file
97
examples/test_torque/faulty_servo.py
Normal file
@@ -0,0 +1,97 @@
|
||||
#faulty servo
|
||||
Model = [777]
|
||||
ID = [7]
|
||||
Baud_Rate = [0]
|
||||
Return_Delay = [0]
|
||||
Response_Status_Level = [1]
|
||||
Min_Angle_Limit = [1140]
|
||||
Max_Angle_Limit = [2750]
|
||||
Max_Temperature_Limit = [70]
|
||||
Max_Voltage_Limit = [140]
|
||||
Min_Voltage_Limit = [40]
|
||||
Max_Torque_Limit = [1000]
|
||||
Phase = [12]
|
||||
Unloading_Condition = [44]
|
||||
LED_Alarm_Condition = [47]
|
||||
P_Coefficient = [32]
|
||||
D_Coefficient = [32]
|
||||
I_Coefficient = [0]
|
||||
Minimum_Startup_Force = [16]
|
||||
CW_Dead_Zone = [1]
|
||||
CCW_Dead_Zone = [1]
|
||||
Protection_Current = [310]
|
||||
Angular_Resolution = [1]
|
||||
Offset = [1047]
|
||||
Mode = [0]
|
||||
Protective_Torque = [20]
|
||||
Protection_Time = [200]
|
||||
Overload_Torque = [80]
|
||||
Speed_closed_loop_P_proportional_coefficient = [10]
|
||||
Over_Current_Protection_Time = [200]
|
||||
Velocity_closed_loop_I_integral_coefficient = [200]
|
||||
Torque_Enable = [1]
|
||||
Acceleration = [20]
|
||||
Goal_Position = [0]
|
||||
Goal_Time = [0]
|
||||
Goal_Speed = [0]
|
||||
Torque_Limit = [1000]
|
||||
Lock = [1]
|
||||
Present_Position = [1494]
|
||||
Present_Speed = [0]
|
||||
Present_Load = [0]
|
||||
Present_Voltage = [123]
|
||||
Present_Temperature = [24]
|
||||
Status = [0]
|
||||
Moving = [0]
|
||||
Present_Current = [0]
|
||||
Maximum_Acceleration = [306]
|
||||
|
||||
|
||||
|
||||
#all servos of hopejr
|
||||
Model = [2825 777 777 2825 777 777 777]
|
||||
ID = [1 2 3 4 5 6 7]
|
||||
Baud_Rate = [0 0 0 0 0 0 0]
|
||||
Return_Delay = [0 0 0 0 0 0 0]
|
||||
Response_Status_Level = [1 1 1 1 1 1 1]
|
||||
Min_Angle_Limit = [ 650 1300 1300 1200 600 1725 0]
|
||||
Max_Angle_Limit = [2600 2050 2800 2500 4096 2250 4095]
|
||||
Max_Temperature_Limit = [80 70 70 80 70 70 70]
|
||||
Max_Voltage_Limit = [160 140 140 160 140 140 80]
|
||||
Min_Voltage_Limit = [60 40 40 60 40 40 40]
|
||||
Max_Torque_Limit = [1000 1000 1000 1000 1000 1000 1000]
|
||||
Phase = [12 12 12 12 12 12 12]
|
||||
Unloading_Condition = [45 44 44 45 44 44 44]
|
||||
LED_Alarm_Condition = [45 47 47 45 47 47 47]
|
||||
P_Coefficient = [32 32 32 32 32 32 32]
|
||||
D_Coefficient = [32 32 32 32 32 32 32]
|
||||
I_Coefficient = [0 0 0 0 0 0 0]
|
||||
Minimum_Startup_Force = [15 16 16 12 16 16 16]
|
||||
CW_Dead_Zone = [0 1 1 0 1 1 1]
|
||||
CCW_Dead_Zone = [0 1 1 0 1 1 1]
|
||||
Protection_Current = [310 310 310 310 310 310 500]
|
||||
Angular_Resolution = [1 1 1 1 1 1 1]
|
||||
Offset = [ 0 1047 1024 1047 1024 1024 0]
|
||||
Mode = [0 0 0 0 0 0 0]
|
||||
Protective_Torque = [20 20 20 20 20 20 20]
|
||||
Protection_Time = [200 200 200 200 200 200 200]
|
||||
Overload_Torque = [80 80 80 80 80 80 80]
|
||||
Speed_closed_loop_P_proportional_coefficient = [10 10 10 10 10 10 10]
|
||||
Over_Current_Protection_Time = [250 200 200 250 200 200 200]
|
||||
Velocity_closed_loop_I_integral_coefficient = [200 200 200 200 200 200 200]
|
||||
Torque_Enable = [1 1 1 1 1 1 1]
|
||||
Acceleration = [20 20 20 20 20 20 20]
|
||||
Goal_Position = [1909 1977 1820 1000 707 1941 1036]
|
||||
Goal_Time = [0 0 0 0 0 0 0]
|
||||
Goal_Speed = [0 0 0 0 0 0 0]
|
||||
Torque_Limit = [1000 1000 1000 200 1000 1000 1000]
|
||||
Lock = [1 1 1 1 1 1 1]
|
||||
Present_Position = [1909 1982 1821 1200 710 1941 1036]
|
||||
Present_Speed = [0 0 0 0 0 0 0]
|
||||
Present_Load = [ 0 48 0 0 32 0 0]
|
||||
Present_Voltage = [122 123 122 123 122 122 122]
|
||||
Present_Temperature = [23 28 28 26 29 28 28]
|
||||
Status = [0 0 0 0 0 0 1]
|
||||
Moving = [0 0 0 0 0 0 0]
|
||||
Present_Current = [0 1 0 1 1 0 1]
|
||||
Maximum_Acceleration = [1530 306 306 1530 306 306 254]
|
||||
192
examples/test_torque/hopejr.py
Normal file
192
examples/test_torque/hopejr.py
Normal file
@@ -0,0 +1,192 @@
|
||||
import threading
|
||||
import time
|
||||
from typing import Callable
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
import serial
|
||||
|
||||
from lerobot.common.robot_devices.motors.feetech import (
|
||||
CalibrationMode,
|
||||
FeetechMotorsBus,
|
||||
)
|
||||
|
||||
LOWER_BOUND_LINEAR = -100
|
||||
UPPER_BOUND_LINEAR = 200
|
||||
|
||||
ESCAPE_KEY_ID = 27
|
||||
|
||||
|
||||
class HopeJuniorRobot:
|
||||
def __init__(self):
|
||||
self.arm_bus = FeetechMotorsBus(
|
||||
port="/dev/ttyACM1",
|
||||
motors={
|
||||
# "motor1": (2, "sts3250"),
|
||||
# "motor2": (1, "scs0009"),
|
||||
#"shoulder_pitch": [1, "sts3250"],
|
||||
#"shoulder_yaw": [2, "sts3215"], # TODO: sts3250
|
||||
#"shoulder_roll": [3, "sts3215"], # TODO: sts3250
|
||||
#"elbow_flex": [4, "sts3250"],
|
||||
#"wrist_roll": [5, "sts3215"],
|
||||
#"wrist_yaw": [6, "sts3215"],
|
||||
"wrist_pitch": [7, "sts3215"],
|
||||
},
|
||||
protocol_version=0,
|
||||
)
|
||||
self.hand_bus = FeetechMotorsBus(
|
||||
port="/dev/ttyACM1",
|
||||
motors={
|
||||
"thumb_basel_rotation": [30, "scs0009"],
|
||||
"thumb_flexor": [27, "scs0009"],
|
||||
"thumb_pinky_side": [26, "scs0009"],
|
||||
"thumb_thumb_side": [28, "scs0009"],
|
||||
"index_flexor": [25, "scs0009"],
|
||||
"index_pinky_side": [31, "scs0009"],
|
||||
"index_thumb_side": [32, "scs0009"],
|
||||
"middle_flexor": [24, "scs0009"],
|
||||
"middle_pinky_side": [33, "scs0009"],
|
||||
"middle_thumb_side": [34, "scs0009"],
|
||||
"ring_flexor": [21, "scs0009"],
|
||||
"ring_pinky_side": [36, "scs0009"],
|
||||
"ring_thumb_side": [35, "scs0009"],
|
||||
"pinky_flexor": [23, "scs0009"],
|
||||
"pinky_pinky_side": [38, "scs0009"],
|
||||
"pinky_thumb_side": [37, "scs0009"],
|
||||
},
|
||||
protocol_version=1,
|
||||
group_sync_read=False,
|
||||
)
|
||||
|
||||
def get_hand_calibration(self):
|
||||
"""
|
||||
Returns a dictionary containing calibration settings for each motor
|
||||
on the hand bus.
|
||||
"""
|
||||
homing_offset = [0] * len(self.hand_bus.motor_names)
|
||||
drive_mode = [0] * len(self.hand_bus.motor_names)
|
||||
|
||||
start_pos = [
|
||||
500, 900, 0, 1000, 100, 250, 750, 100, 400, 150, 100, 120, 980, 100, 950, 750,
|
||||
]
|
||||
|
||||
end_pos = [
|
||||
start_pos[0] - 400, # 500 - 400 = 100
|
||||
start_pos[1] - 300, # 900 - 300 = 600
|
||||
start_pos[2] + 550, # 0 + 550 = 550
|
||||
start_pos[3] - 550, # 1000 - 550 = 450
|
||||
start_pos[4] + 900, # 100 + 900 = 1000
|
||||
start_pos[5] + 500, # 250 + 500 = 750
|
||||
start_pos[6] - 500, # 750 - 500 = 250
|
||||
start_pos[7] + 900, # 100 + 900 = 1000
|
||||
start_pos[8] + 700, # 400 + 700 = 1100
|
||||
start_pos[9] + 700, # 150 + 700 = 850
|
||||
start_pos[10] + 900, # 100 + 900 = 1000
|
||||
start_pos[11] + 700, # 120 + 700 = 820
|
||||
start_pos[12] - 700, # 980 - 700 = 280
|
||||
start_pos[13] + 900, # 100 + 900 = 1000
|
||||
start_pos[14] - 700, # 950 - 700 = 250
|
||||
start_pos[15] - 700, # 750 - 700 = 50
|
||||
]
|
||||
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.hand_bus.motor_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": start_pos,
|
||||
"end_pos": end_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.hand_bus.motor_names,
|
||||
}
|
||||
return calib_dict
|
||||
|
||||
def get_arm_calibration(self):
|
||||
"""
|
||||
Returns a dictionary containing calibration settings for each motor
|
||||
on the arm bus.
|
||||
"""
|
||||
homing_offset = [0] * len(self.arm_bus.motor_names)
|
||||
drive_mode = [0] * len(self.arm_bus.motor_names)
|
||||
|
||||
# Example placeholders
|
||||
start_pos = [
|
||||
600, # shoulder_up
|
||||
1500, # shoulder_forward
|
||||
1300, # shoulder_yaw
|
||||
1000, # bend_elbow
|
||||
1600, # wrist_roll
|
||||
1700, # wrist_yaw
|
||||
600, # wrist_pitch
|
||||
]
|
||||
|
||||
end_pos = [
|
||||
2300, # shoulder_up
|
||||
2300, # shoulder_forward
|
||||
2800, # shoulder_yaw
|
||||
2500, # bend_elbow
|
||||
2800, # wrist_roll
|
||||
2200, # wrist_yaw
|
||||
1700, # wrist_pitch
|
||||
]
|
||||
|
||||
calib_modes = [CalibrationMode.LINEAR.name] * len(self.arm_bus.motor_names)
|
||||
|
||||
calib_dict = {
|
||||
"homing_offset": homing_offset,
|
||||
"drive_mode": drive_mode,
|
||||
"start_pos": start_pos,
|
||||
"end_pos": end_pos,
|
||||
"calib_mode": calib_modes,
|
||||
"motor_names": self.arm_bus.motor_names,
|
||||
}
|
||||
return calib_dict
|
||||
|
||||
def connect(self):
|
||||
"""Connect to the Feetech buses."""
|
||||
self.arm_bus.connect()
|
||||
# self.hand_bus.connect()
|
||||
|
||||
|
||||
def capture_and_display_processed_frames(
|
||||
frame_processor: Callable[[np.ndarray], np.ndarray],
|
||||
window_display_name: str,
|
||||
cap_device: int = 0,
|
||||
) -> None:
|
||||
"""
|
||||
Capture frames from the given input camera device, run them through
|
||||
the frame processor, and display the outputs in a window with the given name.
|
||||
|
||||
User should press Esc to exit.
|
||||
|
||||
Inputs:
|
||||
frame_processor: Callable[[np.ndarray], np.ndarray]
|
||||
Processes frames.
|
||||
Input and output are numpy arrays of shape (H W C) with BGR channel layout and dtype uint8 / byte.
|
||||
window_display_name: str
|
||||
Name of the window used to display frames.
|
||||
cap_device: int
|
||||
Identifier for the camera to use to capture frames.
|
||||
"""
|
||||
cv2.namedWindow(window_display_name)
|
||||
capture = cv2.VideoCapture(cap_device)
|
||||
if not capture.isOpened():
|
||||
raise ValueError("Unable to open video capture.")
|
||||
|
||||
frame_count = 0
|
||||
has_frame, frame = capture.read()
|
||||
while has_frame:
|
||||
frame_count = frame_count + 1
|
||||
# Mirror frame horizontally and flip color for demonstration
|
||||
frame = np.ascontiguousarray(frame[:, ::-1, ::-1])
|
||||
|
||||
# process & show frame
|
||||
processed_frame = frame_processor(frame)
|
||||
cv2.imshow(window_display_name, processed_frame[:, :, ::-1])
|
||||
|
||||
has_frame, frame = capture.read()
|
||||
key = cv2.waitKey(1)
|
||||
if key == ESCAPE_KEY_ID:
|
||||
break
|
||||
|
||||
capture.release()
|
||||
BIN
examples/test_torque/log_50ms_shoulder_pitch.png
Normal file
BIN
examples/test_torque/log_50ms_shoulder_pitch.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 56 KiB |
BIN
examples/test_torque/log_50ms_shoulder_pitch_CURRENT.png
Normal file
BIN
examples/test_torque/log_50ms_shoulder_pitch_CURRENT.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 54 KiB |
BIN
examples/test_torque/log_50ms_shoulder_pitch_LOAD.png
Normal file
BIN
examples/test_torque/log_50ms_shoulder_pitch_LOAD.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 56 KiB |
44
examples/test_torque/log_and_plot_feetech.py
Normal file
44
examples/test_torque/log_and_plot_feetech.py
Normal file
@@ -0,0 +1,44 @@
|
||||
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
import time
|
||||
from typing import List, Tuple
|
||||
def log_and_plot_params(bus, params_to_log: list, servo_names: list,
|
||||
test_id="servo_log", interval=0.1, duration=5, save_plot=True) -> Tuple[dict, List[float]]:
|
||||
|
||||
"""
|
||||
Logs specific servo parameters for a given duration and generates a plot.
|
||||
"""
|
||||
|
||||
servo_data = {servo_name: {param: [] for param in params_to_log} for servo_name in servo_names}
|
||||
timestamps = []
|
||||
|
||||
start_time = time.time()
|
||||
|
||||
while time.time() - start_time < duration:
|
||||
timestamp = time.time() - start_time
|
||||
timestamps.append(timestamp)
|
||||
for param in params_to_log:
|
||||
values = bus.read(param, servo_names)
|
||||
for servo_name, value in zip(servo_names, values):
|
||||
servo_data[servo_name][param].append(value)
|
||||
|
||||
time.sleep(interval)
|
||||
|
||||
if save_plot:
|
||||
for servo_name, data in servo_data.items():
|
||||
plt.figure(figsize=(10, 6))
|
||||
for param in params_to_log:
|
||||
if all(v is not None for v in data[param]):
|
||||
plt.plot(timestamps, data[param], label=param)
|
||||
plt.xlabel("Time (s)")
|
||||
plt.ylabel("Parameter Values")
|
||||
plt.title(f"Parameter Trends for Servo: {servo_name}")
|
||||
plt.legend()
|
||||
plt.grid(True)
|
||||
plt.tight_layout()
|
||||
plot_filename = f"{test_id}_{servo_name}.png"
|
||||
plt.savefig(plot_filename)
|
||||
print(f"Plot saved as {plot_filename}")
|
||||
|
||||
return servo_data, timestamps
|
||||
BIN
examples/test_torque/plots/log_200ms_shoulder_pitch_current.png
Normal file
BIN
examples/test_torque/plots/log_200ms_shoulder_pitch_current.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 65 KiB |
BIN
examples/test_torque/plots/log_50ms_shoulder_pitch.png
Normal file
BIN
examples/test_torque/plots/log_50ms_shoulder_pitch.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 60 KiB |
BIN
examples/test_torque/plots/log_50ms_shoulder_pitch_current.png
Normal file
BIN
examples/test_torque/plots/log_50ms_shoulder_pitch_current.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 54 KiB |
68
examples/test_torque/print_all_params.py
Normal file
68
examples/test_torque/print_all_params.py
Normal file
@@ -0,0 +1,68 @@
|
||||
STS_SERIES_CONTROL_TABLE = {
|
||||
"Model": (3, 2),
|
||||
"ID": (5, 1),
|
||||
"Baud_Rate": (6, 1),
|
||||
"Return_Delay": (7, 1),
|
||||
"Response_Status_Level": (8, 1),
|
||||
"Min_Angle_Limit": (9, 2),
|
||||
"Max_Angle_Limit": (11, 2),
|
||||
"Max_Temperature_Limit": (13, 1),
|
||||
"Max_Voltage_Limit": (14, 1),
|
||||
"Min_Voltage_Limit": (15, 1),
|
||||
"Max_Torque_Limit": (16, 2),
|
||||
"Phase": (18, 1),
|
||||
"Unloading_Condition": (19, 1),
|
||||
"LED_Alarm_Condition": (20, 1),
|
||||
"P_Coefficient": (21, 1),
|
||||
"D_Coefficient": (22, 1),
|
||||
"I_Coefficient": (23, 1),
|
||||
"Minimum_Startup_Force": (24, 2),
|
||||
"CW_Dead_Zone": (26, 1),
|
||||
"CCW_Dead_Zone": (27, 1),
|
||||
"Protection_Current": (28, 2),
|
||||
"Angular_Resolution": (30, 1),
|
||||
"Offset": (31, 2),
|
||||
"Mode": (33, 1),
|
||||
"Protective_Torque": (34, 1),
|
||||
"Protection_Time": (35, 1),
|
||||
"Overload_Torque": (36, 1),
|
||||
"Speed_closed_loop_P_proportional_coefficient": (37, 1),
|
||||
"Over_Current_Protection_Time": (38, 1),
|
||||
"Velocity_closed_loop_I_integral_coefficient": (39, 1),
|
||||
"Torque_Enable": (40, 1),
|
||||
"Acceleration": (41, 1),
|
||||
"Goal_Position": (42, 2),
|
||||
"Goal_Time": (44, 2),
|
||||
"Goal_Speed": (46, 2),
|
||||
"Torque_Limit": (48, 2),
|
||||
"Lock": (55, 1),
|
||||
"Present_Position": (56, 2),
|
||||
"Present_Speed": (58, 2),
|
||||
"Present_Load": (60, 2),
|
||||
"Present_Voltage": (62, 1),
|
||||
"Present_Temperature": (63, 1),
|
||||
"Status": (65, 1),
|
||||
"Moving": (66, 1),
|
||||
"Present_Current": (69, 2),
|
||||
# Not in the Memory Table
|
||||
"Maximum_Acceleration": (85, 2),
|
||||
}
|
||||
|
||||
import time
|
||||
|
||||
# Assuming STS_SERIES_CONTROL_TABLE is defined globally
|
||||
|
||||
def print_all_params(robot):
|
||||
"""
|
||||
Reads all parameters from the STS_SERIES_CONTROL_TABLE and prints their values.
|
||||
"""
|
||||
for param in STS_SERIES_CONTROL_TABLE.keys():
|
||||
try:
|
||||
val = robot.arm_bus.read(param)
|
||||
print(f"{param} = {val}")
|
||||
except Exception as e:
|
||||
print(f"{param} read failed: {e}")
|
||||
|
||||
|
||||
# Example usage:
|
||||
print_all_params(robot)
|
||||
26
examples/test_torque/read_encoder.cs
Normal file
26
examples/test_torque/read_encoder.cs
Normal file
@@ -0,0 +1,26 @@
|
||||
#include <DFRobot_VisualRotaryEncoder.h>
|
||||
|
||||
DFRobot_VisualRotaryEncoder_I2C sensor(0x54, &Wire);
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
|
||||
// Attempt to initialize the sensor
|
||||
while (NO_ERR != sensor.begin()) {
|
||||
// Failed? Just wait a bit and try again
|
||||
delay(3000);
|
||||
}
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
// Read the encoder value
|
||||
uint16_t encoderValue = sensor.getEncoderValue();
|
||||
|
||||
// Print it followed by a newline
|
||||
Serial.println(encoderValue);
|
||||
|
||||
// Delay 10ms between readings
|
||||
delay(10);
|
||||
}
|
||||
544
examples/test_torque/test_torque.ipynb
Normal file
544
examples/test_torque/test_torque.ipynb
Normal file
@@ -0,0 +1,544 @@
|
||||
{
|
||||
"cells": [
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
"metadata": {},
|
||||
"source": [
|
||||
"what are the actual interest values on the hopejr? make like a map"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
"metadata": {},
|
||||
"source": [
|
||||
"can change these dynamically so if the arm is moving down we can relax it instead of tensing it? so for example decreasing torque if the target position is lower than the actual position, for example. "
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": null,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"arm_calibration = robot.get_arm_calibration()\n",
|
||||
"robot.arm_bus.write(\"Goal_Position\", arm_calibration[\"start_pos\"])"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 1,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Present Position: [1494]\n",
|
||||
"Acceleration Read: [20]\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"import time\n",
|
||||
"from hopejr import HopeJuniorRobot\n",
|
||||
"\n",
|
||||
"\n",
|
||||
"robot = HopeJuniorRobot()\n",
|
||||
"robot.connect()\n",
|
||||
"\n",
|
||||
"# Example read of the current position\n",
|
||||
"print(\"Present Position:\", robot.arm_bus.read(\"Present_Position\"))\n",
|
||||
"\n",
|
||||
"# Enable torque and set acceleration\n",
|
||||
"robot.arm_bus.write(\"Torque_Enable\", 1)\n",
|
||||
"robot.arm_bus.write(\"Acceleration\", 20)\n",
|
||||
"print(\"Acceleration Read:\", robot.arm_bus.read(\"Acceleration\"))\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 5,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"robot.arm_bus.write(\"Torque_Limit\", 100,[\"elbow_flex\"])\n",
|
||||
"robot.arm_bus.write(\"Protective_Torque\", 0, [\"elbow_flex\"])\n",
|
||||
"robot.arm_bus.write(\"Acceleration\", 20)\n",
|
||||
"robot.arm_bus.write(\"Goal_Position\", [2000], [\"elbow_flex\"])"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 8,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"data": {
|
||||
"text/plain": [
|
||||
"array([1000, 1000, 1000, 1000, 1000, 1000, 1000])"
|
||||
]
|
||||
},
|
||||
"execution_count": 8,
|
||||
"metadata": {},
|
||||
"output_type": "execute_result"
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"robot.arm_bus.read(\"Max_Torque_Limit\")"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 4,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"robot.arm_bus.write(\"Goal_Position\", [1909, 1977, 1820, 1000, 707, 1941, 1036]) #"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": null,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"robot.arm_bus.write(\"Max_Voltage_Limit\", [160, 140, 140, 160, 140, 140, 140]) #so its not torque limit nor max torque limit, , no protective torque or overload torque\n",
|
||||
"#it's 1) max voltage limit, min-max angle limits are arbitrairly set for all the motors, max temp is only set for the shoulder\n",
|
||||
"#max acceleration is also set, we could lower that in the elbow to make it less responsive to commands basically\n",
|
||||
"#so we limit speed and temperature, maybe we should limit torque thouhg, minimum startup force is also important. protection current as well\n",
|
||||
"#changed that to 310.\n",
|
||||
"#\"Max_Voltage_Limit\" also needs to be changed, different from torque_limit"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 2,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Model = [777]\n",
|
||||
"ID = [7]\n",
|
||||
"Baud_Rate = [0]\n",
|
||||
"Return_Delay = [0]\n",
|
||||
"Response_Status_Level = [1]\n",
|
||||
"Min_Angle_Limit = [1140]\n",
|
||||
"Max_Angle_Limit = [2750]\n",
|
||||
"Max_Temperature_Limit = [70]\n",
|
||||
"Max_Voltage_Limit = [140]\n",
|
||||
"Min_Voltage_Limit = [40]\n",
|
||||
"Max_Torque_Limit = [1000]\n",
|
||||
"Phase = [12]\n",
|
||||
"Unloading_Condition = [44]\n",
|
||||
"LED_Alarm_Condition = [47]\n",
|
||||
"P_Coefficient = [32]\n",
|
||||
"D_Coefficient = [32]\n",
|
||||
"I_Coefficient = [0]\n",
|
||||
"Minimum_Startup_Force = [16]\n",
|
||||
"CW_Dead_Zone = [1]\n",
|
||||
"CCW_Dead_Zone = [1]\n",
|
||||
"Protection_Current = [310]\n",
|
||||
"Angular_Resolution = [1]\n",
|
||||
"Offset = [1047]\n",
|
||||
"Mode = [0]\n",
|
||||
"Protective_Torque = [20]\n",
|
||||
"Protection_Time = [200]\n",
|
||||
"Overload_Torque = [80]\n",
|
||||
"Speed_closed_loop_P_proportional_coefficient = [10]\n",
|
||||
"Over_Current_Protection_Time = [200]\n",
|
||||
"Velocity_closed_loop_I_integral_coefficient = [200]\n",
|
||||
"Torque_Enable = [1]\n",
|
||||
"Acceleration = [20]\n",
|
||||
"Goal_Position = [0]\n",
|
||||
"Goal_Time = [0]\n",
|
||||
"Goal_Speed = [0]\n",
|
||||
"Torque_Limit = [1000]\n",
|
||||
"Lock = [1]\n",
|
||||
"Present_Position = [1494]\n",
|
||||
"Present_Speed = [0]\n",
|
||||
"Present_Load = [0]\n",
|
||||
"Present_Voltage = [123]\n",
|
||||
"Present_Temperature = [24]\n",
|
||||
"Status = [0]\n",
|
||||
"Moving = [0]\n",
|
||||
"Present_Current = [0]\n",
|
||||
"Maximum_Acceleration = [306]\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"STS_SERIES_CONTROL_TABLE = {\n",
|
||||
" \"Model\": (3, 2),\n",
|
||||
" \"ID\": (5, 1),\n",
|
||||
" \"Baud_Rate\": (6, 1),\n",
|
||||
" \"Return_Delay\": (7, 1),\n",
|
||||
" \"Response_Status_Level\": (8, 1),\n",
|
||||
" \"Min_Angle_Limit\": (9, 2),\n",
|
||||
" \"Max_Angle_Limit\": (11, 2),\n",
|
||||
" \"Max_Temperature_Limit\": (13, 1),\n",
|
||||
" \"Max_Voltage_Limit\": (14, 1),\n",
|
||||
" \"Min_Voltage_Limit\": (15, 1),\n",
|
||||
" \"Max_Torque_Limit\": (16, 2),\n",
|
||||
" \"Phase\": (18, 1),\n",
|
||||
" \"Unloading_Condition\": (19, 1),\n",
|
||||
" \"LED_Alarm_Condition\": (20, 1),\n",
|
||||
" \"P_Coefficient\": (21, 1),\n",
|
||||
" \"D_Coefficient\": (22, 1),\n",
|
||||
" \"I_Coefficient\": (23, 1),\n",
|
||||
" \"Minimum_Startup_Force\": (24, 2),\n",
|
||||
" \"CW_Dead_Zone\": (26, 1),\n",
|
||||
" \"CCW_Dead_Zone\": (27, 1),\n",
|
||||
" \"Protection_Current\": (28, 2),\n",
|
||||
" \"Angular_Resolution\": (30, 1),\n",
|
||||
" \"Offset\": (31, 2),\n",
|
||||
" \"Mode\": (33, 1),\n",
|
||||
" \"Protective_Torque\": (34, 1),\n",
|
||||
" \"Protection_Time\": (35, 1),\n",
|
||||
" \"Overload_Torque\": (36, 1),\n",
|
||||
" \"Speed_closed_loop_P_proportional_coefficient\": (37, 1),\n",
|
||||
" \"Over_Current_Protection_Time\": (38, 1),\n",
|
||||
" \"Velocity_closed_loop_I_integral_coefficient\": (39, 1),\n",
|
||||
" \"Torque_Enable\": (40, 1),\n",
|
||||
" \"Acceleration\": (41, 1),\n",
|
||||
" \"Goal_Position\": (42, 2),\n",
|
||||
" \"Goal_Time\": (44, 2),\n",
|
||||
" \"Goal_Speed\": (46, 2),\n",
|
||||
" \"Torque_Limit\": (48, 2),\n",
|
||||
" \"Lock\": (55, 1),\n",
|
||||
" \"Present_Position\": (56, 2),\n",
|
||||
" \"Present_Speed\": (58, 2),\n",
|
||||
" \"Present_Load\": (60, 2),\n",
|
||||
" \"Present_Voltage\": (62, 1),\n",
|
||||
" \"Present_Temperature\": (63, 1),\n",
|
||||
" \"Status\": (65, 1),\n",
|
||||
" \"Moving\": (66, 1),\n",
|
||||
" \"Present_Current\": (69, 2),\n",
|
||||
" # Not in the Memory Table\n",
|
||||
" \"Maximum_Acceleration\": (85, 2),\n",
|
||||
"}\n",
|
||||
"\n",
|
||||
"import time\n",
|
||||
"\n",
|
||||
"# Assuming STS_SERIES_CONTROL_TABLE is defined globally\n",
|
||||
"\n",
|
||||
"def print_all_params(robot):\n",
|
||||
" \"\"\"\n",
|
||||
" Reads all parameters from the STS_SERIES_CONTROL_TABLE and prints their values.\n",
|
||||
" \"\"\"\n",
|
||||
" for param in STS_SERIES_CONTROL_TABLE.keys():\n",
|
||||
" try:\n",
|
||||
" val = robot.arm_bus.read(param)\n",
|
||||
" print(f\"{param} = {val}\")\n",
|
||||
" except Exception as e:\n",
|
||||
" print(f\"{param} read failed: {e}\")\n",
|
||||
"\n",
|
||||
"\n",
|
||||
"# Example usage:\n",
|
||||
"print_all_params(robot)\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
"metadata": {},
|
||||
"source": [
|
||||
"probably max input voltage, we can also look at temperature and "
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 14,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Acceleration Read: [20 20]\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"\n",
|
||||
"print(\"Acceleration Read:\", robot.arm_bus.read(\"Acceleration\"))"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 37,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"robot.arm_bus.write(\"LED_Alarm_Condition\", 2, [\"elbow_flex\"])"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 16,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"robot.arm_bus.write(\"Acceleration\", 20, [\"elbow_flex\"])\n",
|
||||
"robot.arm_bus.write(\"Acceleration\", 100, [\"wrist_yaw\"])"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 73,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": []
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 2,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"robot.arm_bus.write(\"Goal_Position\", [1000, 1000], [\"elbow_flex\", \"wrist_yaw\"])\n",
|
||||
"time.sleep(2)\n",
|
||||
"robot.arm_bus.write(\"Goal_Position\", [2000, 2000], [\"elbow_flex\", \"wrist_yaw\"])"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 68,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Elbow Flex Current: [1]\n",
|
||||
"Elbow Flex Current: [0]\n",
|
||||
"Elbow Flex Current: [3]\n",
|
||||
"Elbow Flex Current: [1]\n",
|
||||
"Elbow Flex Current: [1]\n",
|
||||
"Elbow Flex Current: [2]\n",
|
||||
"Elbow Flex Current: [1]\n",
|
||||
"Elbow Flex Current: [1]\n",
|
||||
"Elbow Flex Current: [2]\n",
|
||||
"Elbow Flex Current: [1]\n",
|
||||
"Elbow Flex Current: [1]\n",
|
||||
"Elbow Flex Current: [0]\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"ename": "KeyboardInterrupt",
|
||||
"evalue": "",
|
||||
"output_type": "error",
|
||||
"traceback": [
|
||||
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
|
||||
"\u001b[0;31mKeyboardInterrupt\u001b[0m Traceback (most recent call last)",
|
||||
"Cell \u001b[0;32mIn[68], line 25\u001b[0m\n\u001b[1;32m 22\u001b[0m time\u001b[38;5;241m.\u001b[39msleep(\u001b[38;5;241m2\u001b[39m)\n\u001b[1;32m 23\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m 24\u001b[0m \u001b[38;5;66;03m# If current is zero, hold at pos_a for a bit\u001b[39;00m\n\u001b[0;32m---> 25\u001b[0m \u001b[43mtime\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msleep\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;241;43m1\u001b[39;49m\u001b[43m)\u001b[49m\n",
|
||||
"\u001b[0;31mKeyboardInterrupt\u001b[0m: "
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"import time\n",
|
||||
"\n",
|
||||
"# Enable torque on elbow_flex\n",
|
||||
"robot.arm_bus.write(\"Torque_Enable\", 1, [\"elbow_flex\"])\n",
|
||||
"\n",
|
||||
"pos_a = 2500\n",
|
||||
"pos_b = 1000\n",
|
||||
"\n",
|
||||
"robot.arm_bus.write(\"Goal_Position\", pos_a, [\"elbow_flex\"])\n",
|
||||
"time.sleep(2)\n",
|
||||
"\n",
|
||||
"while True:\n",
|
||||
" current_val = robot.arm_bus.read(\"Present_Current\", \"elbow_flex\")\n",
|
||||
" print(\"Elbow Flex Current:\", current_val)\n",
|
||||
" \n",
|
||||
" # If the servo is under non-zero load/current, switch position\n",
|
||||
" if current_val > 1:\n",
|
||||
" robot.arm_bus.write(\"Goal_Position\", pos_b, [\"elbow_flex\"])\n",
|
||||
" time.sleep(2)\n",
|
||||
" # Go back to pos_a again\n",
|
||||
" robot.arm_bus.write(\"Goal_Position\", pos_a, [\"elbow_flex\"])\n",
|
||||
" time.sleep(2)\n",
|
||||
" else:\n",
|
||||
" # If current is zero, hold at pos_a for a bit\n",
|
||||
" time.sleep(1)\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
"metadata": {},
|
||||
"source": [
|
||||
"\"Acceleration\" = 0, infinitely fast\n",
|
||||
"\"Acceleration\" = 20 slow\n",
|
||||
"elbow_flex is the LED one (4)\n",
|
||||
"\n",
|
||||
"robot.arm_bus.write(\"LED_Alarm_Condition\", 2, [\"elbow_flex\"]) #on constantly\n",
|
||||
"robot.arm_bus.write(\"LED_Alarm_Condition\", 1, [\"elbow_flex\"]) #beeping\n",
|
||||
"robot.arm_bus.write(\"LED_Alarm_Condition\", 0, [\"elbow_flex\"]) #off\n",
|
||||
"\n",
|
||||
"\"Max_Torque_Limit\": (16, 2), is what i have o play around with or \"Protective_Torque\": (37, 1), maybe\n",
|
||||
"\n",
|
||||
"robot.arm_bus.write(\"Torque_Enable\", 1, [\"elbow_flex\"]) 1 can move 0 cant move\n",
|
||||
"\n",
|
||||
"robot.arm_bus.write(\"Torque_Limit\", 300, [\"elbow_flex\"]) #how strong/weak the servo is. 0 makes it so that it cannot move basically, but i'd like to have that value change honestly and for it to be waeaker\n",
|
||||
"\n",
|
||||
"robot.arm_bus.write(\"Torque_Limit\", 20,[\"elbow_flex\"]) 20 in ordre to get some motion\n",
|
||||
"\n",
|
||||
"default is 1000\n",
|
||||
"\n",
|
||||
"robot.arm_bus.write(\"Goal_Speed\", -s, [\"elbow_flex\"]) #changes how fast the servo moves when going to the target, does not make it move with a specific speed "
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
"metadata": {},
|
||||
"source": [
|
||||
"import time\n",
|
||||
"\n",
|
||||
"# Enable torque on elbow_flex\n",
|
||||
"robot.arm_bus.write(\"Torque_Enable\", 1, [\"elbow_flex\"])\n",
|
||||
"\n",
|
||||
"pos_a = 1000\n",
|
||||
"pos_b = 2500\n",
|
||||
"\n",
|
||||
"robot.arm_bus.write(\"Goal_Position\", pos_a, [\"elbow_flex\"])\n",
|
||||
"time.sleep(2)\n",
|
||||
"\n",
|
||||
"while True:\n",
|
||||
" current_val = robot.arm_bus.read(\"Present_Current\", \"elbow_flex\")\n",
|
||||
" print(\"Elbow Flex Current:\", current_val)\n",
|
||||
" \n",
|
||||
" # If the servo is under non-zero load/current, switch position\n",
|
||||
" if current_val > 1:\n",
|
||||
" robot.arm_bus.write(\"Goal_Position\", pos_b, [\"elbow_flex\"])\n",
|
||||
" time.sleep(2)\n",
|
||||
" # Go back to pos_a again\n",
|
||||
" robot.arm_bus.write(\"Goal_Position\", pos_a, [\"elbow_flex\"])\n",
|
||||
" time.sleep(2)\n",
|
||||
" else:\n",
|
||||
" # If current is zero, hold at pos_a for a bit\n",
|
||||
" time.sleep(1)\n",
|
||||
"\n",
|
||||
"\n",
|
||||
"so if current is larger than x then you disable it \n",
|
||||
"\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 3,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"robot.arm_bus.write(\"LED_Alarm_Condition\", 2, [\"elbow_flex\"])"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 43,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"[0]\n",
|
||||
"[0]\n",
|
||||
"[2]\n",
|
||||
"[4]\n",
|
||||
"[0]\n",
|
||||
"[0]\n",
|
||||
"[0]\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"ename": "KeyboardInterrupt",
|
||||
"evalue": "",
|
||||
"output_type": "error",
|
||||
"traceback": [
|
||||
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
|
||||
"\u001b[0;31mKeyboardInterrupt\u001b[0m Traceback (most recent call last)",
|
||||
"Cell \u001b[0;32mIn[43], line 3\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[38;5;28;01mwhile\u001b[39;00m \u001b[38;5;28;01mTrue\u001b[39;00m:\n\u001b[1;32m 2\u001b[0m \u001b[38;5;28mprint\u001b[39m(robot\u001b[38;5;241m.\u001b[39marm_bus\u001b[38;5;241m.\u001b[39mread(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mPresent_Current\u001b[39m\u001b[38;5;124m\"\u001b[39m, [\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124melbow_flex\u001b[39m\u001b[38;5;124m\"\u001b[39m]))\n\u001b[0;32m----> 3\u001b[0m \u001b[43mtime\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msleep\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;241;43m1\u001b[39;49m\u001b[43m)\u001b[49m\n",
|
||||
"\u001b[0;31mKeyboardInterrupt\u001b[0m: "
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"while True:\n",
|
||||
" print(robot.arm_bus.read(\"Present_Current\", [\"elbow_flex\"]))\n",
|
||||
" time.sleep(1)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 47,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Max_Voltage_Limit = [160 140 140 160 140 140 80]\n",
|
||||
"Min_Angle_Limit = [ 650 1300 1300 1200 600 1725 0]\n",
|
||||
"Max_Angle_Limit = [2600 2050 2800 2500 4096 2250 4095]\n",
|
||||
"Max_Temperature_Limit = [80 70 70 80 70 70 70]\n",
|
||||
"Acceleration = [20 20 20 20 20 20 20]\n",
|
||||
"Torque_Limit = [1000 1000 1000 200 1000 1000 1000]\n",
|
||||
"Minimum_Startup_Force = [15 16 16 12 16 16 16]\n",
|
||||
"Protection_Current = [310 310 310 310 310 310 500]\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"import time\n",
|
||||
"\n",
|
||||
"def print_important_params(robot):\n",
|
||||
"\n",
|
||||
" # Example parameters you mentioned; adjust as needed\n",
|
||||
" param_list = [\n",
|
||||
" \"Max_Voltage_Limit\",\n",
|
||||
" \"Min_Angle_Limit\",\n",
|
||||
" \"Max_Angle_Limit\",\n",
|
||||
" \"Max_Temperature_Limit\",\n",
|
||||
" \"Acceleration\", # or \"Maximum_Acceleration\" if you prefer that register\n",
|
||||
" \"Torque_Limit\", # or \"Max_Torque_Limit\" if your table uses that\n",
|
||||
" \"Minimum_Startup_Force\",\n",
|
||||
" \"Protection_Current\",\n",
|
||||
" ]\n",
|
||||
" \n",
|
||||
" for param in param_list:\n",
|
||||
" try:\n",
|
||||
" val = robot.arm_bus.read(param)\n",
|
||||
" print(f\"{param} = {val}\")\n",
|
||||
" except Exception as e:\n",
|
||||
" print(f\"{param} read failed: {e}\")\n",
|
||||
"\n",
|
||||
"# -------------------------------\n",
|
||||
"# Example usage\n",
|
||||
"\n",
|
||||
"print_important_params(robot)\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"metadata": {
|
||||
"kernelspec": {
|
||||
"display_name": "lerobot",
|
||||
"language": "python",
|
||||
"name": "python3"
|
||||
},
|
||||
"language_info": {
|
||||
"codemirror_mode": {
|
||||
"name": "ipython",
|
||||
"version": 3
|
||||
},
|
||||
"file_extension": ".py",
|
||||
"mimetype": "text/x-python",
|
||||
"name": "python",
|
||||
"nbconvert_exporter": "python",
|
||||
"pygments_lexer": "ipython3",
|
||||
"version": "3.10.16"
|
||||
}
|
||||
},
|
||||
"nbformat": 4,
|
||||
"nbformat_minor": 2
|
||||
}
|
||||
27
examples/test_torque/test_torque.py
Normal file
27
examples/test_torque/test_torque.py
Normal file
@@ -0,0 +1,27 @@
|
||||
import time
|
||||
from hopejr import HopeJuniorRobot
|
||||
|
||||
|
||||
def main():
|
||||
# Instantiate and connect to the robot
|
||||
robot = HopeJuniorRobot()
|
||||
robot.connect()
|
||||
|
||||
# Example read of the current position
|
||||
print("Present Position:", robot.arm_bus.read("Present_Position"))
|
||||
|
||||
# Enable torque and set acceleration
|
||||
robot.arm_bus.write("Torque_Enable", 1)
|
||||
robot.arm_bus.write("Acceleration", 20)
|
||||
print("Acceleration Read:", robot.arm_bus.read("Acceleration"))
|
||||
|
||||
# Move elbow_flex and wrist_yaw a few times
|
||||
robot.arm_bus.write("Goal_Position", [1000, 1000], ["elbow_flex", "wrist_yaw"])
|
||||
time.sleep(2)
|
||||
robot.arm_bus.write("Goal_Position", [1500, 1500], ["elbow_flex", "wrist_yaw"])
|
||||
time.sleep(2)
|
||||
robot.arm_bus.write("Goal_Position", [1000, 1000], ["elbow_flex", "wrist_yaw"])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
49
examples/test_torque/var_table.json
Normal file
49
examples/test_torque/var_table.json
Normal file
@@ -0,0 +1,49 @@
|
||||
STS_SERIES_CONTROL_TABLE = {
|
||||
"Model": (3, 2),
|
||||
"ID": (5, 1),
|
||||
"Baud_Rate": (6, 1),
|
||||
"Return_Delay": (7, 1),
|
||||
"Response_Status_Level": (8, 1),
|
||||
"Min_Angle_Limit": (9, 2),
|
||||
"Max_Angle_Limit": (11, 2),
|
||||
"Max_Temperature_Limit": (13, 1),
|
||||
"Max_Voltage_Limit": (14, 1),
|
||||
"Min_Voltage_Limit": (15, 1),
|
||||
"Max_Torque_Limit": (16, 2),
|
||||
"Phase": (18, 1),
|
||||
"Unloading_Condition": (19, 1),
|
||||
"LED_Alarm_Condition": (20, 1),
|
||||
"P_Coefficient": (21, 1),
|
||||
"D_Coefficient": (22, 1),
|
||||
"I_Coefficient": (23, 1),
|
||||
"Minimum_Startup_Force": (24, 2),
|
||||
"CW_Dead_Zone": (26, 1),
|
||||
"CCW_Dead_Zone": (27, 1),
|
||||
"Protection_Current": (28, 2),
|
||||
"Angular_Resolution": (30, 1),
|
||||
"Offset": (31, 2),
|
||||
"Mode": (33, 1),
|
||||
"Protective_Torque": (34, 1),
|
||||
"Protection_Time": (35, 1),
|
||||
"Overload_Torque": (36, 1),
|
||||
"Speed_closed_loop_P_proportional_coefficient": (37, 1),
|
||||
"Over_Current_Protection_Time": (38, 1),
|
||||
"Velocity_closed_loop_I_integral_coefficient": (39, 1),
|
||||
"Torque_Enable": (40, 1),
|
||||
"Acceleration": (41, 1),
|
||||
"Goal_Position": (42, 2),
|
||||
"Goal_Time": (44, 2),
|
||||
"Goal_Speed": (46, 2),
|
||||
"Torque_Limit": (48, 2),
|
||||
"Lock": (55, 1),
|
||||
"Present_Position": (56, 2),
|
||||
"Present_Speed": (58, 2),
|
||||
"Present_Load": (60, 2),
|
||||
"Present_Voltage": (62, 1),
|
||||
"Present_Temperature": (63, 1),
|
||||
"Status": (65, 1),
|
||||
"Moving": (66, 1),
|
||||
"Present_Current": (69, 2),
|
||||
# Not in the Memory Table
|
||||
"Maximum_Acceleration": (85, 2),
|
||||
}
|
||||
16
examples/test_torque/why it fails
Normal file
16
examples/test_torque/why it fails
Normal file
@@ -0,0 +1,16 @@
|
||||
|
||||
First check that kicks in is current:
|
||||
Protection_Current (310) amperes or sth
|
||||
Present_Current, compared against protection crrent
|
||||
Over_Current_Protection_Time, how long until you shut it down
|
||||
|
||||
make a quick update about this
|
||||
|
||||
variables of interest are
|
||||
Max_Torque_Limit = 1000,
|
||||
Present_Load = 1000-something, which triggered the overload torque mechanism
|
||||
Overload_Torque = 80, how much of the max torque limit do we allow?
|
||||
Protection_Time = 200, after how long do we set Torque_Enable to 1? *not true lol
|
||||
Protective_Torque = 20, after we trigger the safety mechanism, how much torque do we allow the motor to have?
|
||||
|
||||
theres actually no temperature or voltage check that the feetechs perform, the only two are current and torque, which works like i said above
|
||||
@@ -106,6 +106,6 @@ def make_policy(
|
||||
policy = policy_cls(policy_cfg)
|
||||
policy.load_state_dict(policy_cls.from_pretrained(pretrained_policy_name_or_path).state_dict())
|
||||
|
||||
policy.to(get_safe_torch_device(hydra_cfg.device))
|
||||
#policy.to(get_safe_torch_device(hydra_cfg.device))
|
||||
|
||||
return policy
|
||||
|
||||
@@ -404,9 +404,7 @@ class OpenCVCamera:
|
||||
|
||||
h, w, _ = color_image.shape
|
||||
if h != self.height or w != self.width:
|
||||
raise OSError(
|
||||
f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
|
||||
)
|
||||
color_image = cv2.resize(color_image, (640, 480))
|
||||
|
||||
if self.rotation is not None:
|
||||
color_image = cv2.rotate(color_image, self.rotation)
|
||||
|
||||
@@ -41,7 +41,7 @@ def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, f
|
||||
|
||||
# total step time displayed in milliseconds and its frequency
|
||||
log_dt("dt", dt_s)
|
||||
|
||||
return
|
||||
# TODO(aliberts): move robot-specific logs logic in robot.print_logs()
|
||||
if not robot.robot_type.startswith("stretch"):
|
||||
for name in robot.leader_arms:
|
||||
@@ -94,7 +94,7 @@ def predict_action(observation, policy, device, use_amp):
|
||||
observation = copy(observation)
|
||||
with (
|
||||
torch.inference_mode(),
|
||||
torch.autocast(device_type=device.type) if device.type == "cuda" and use_amp else nullcontext(),
|
||||
torch.autocast(device_type=device),
|
||||
):
|
||||
# Convert to pytorch format: channel first and float32 in [0,1] with batch dimension
|
||||
for name in observation:
|
||||
@@ -165,7 +165,8 @@ def init_policy(pretrained_policy_name_or_path, policy_overrides):
|
||||
policy = make_policy(hydra_cfg=hydra_cfg, pretrained_policy_name_or_path=pretrained_policy_path)
|
||||
|
||||
# Check device is available
|
||||
device = get_safe_torch_device(hydra_cfg.device, log=True)
|
||||
#device = get_safe_torch_device(hydra_cfg.device, log=True)
|
||||
device="mps"
|
||||
use_amp = hydra_cfg.use_amp
|
||||
policy_fps = hydra_cfg.env.fps
|
||||
|
||||
@@ -254,7 +255,6 @@ def control_loop(
|
||||
start_episode_t = time.perf_counter()
|
||||
while timestamp < control_time_s:
|
||||
start_loop_t = time.perf_counter()
|
||||
|
||||
if teleoperate:
|
||||
observation, action = robot.teleop_step(record_data=True)
|
||||
else:
|
||||
@@ -281,7 +281,7 @@ def control_loop(
|
||||
busy_wait(1 / fps - dt_s)
|
||||
|
||||
dt_s = time.perf_counter() - start_loop_t
|
||||
log_control_info(robot, dt_s, fps=fps)
|
||||
#log_control_info(robot, dt_s, fps=fps)
|
||||
|
||||
timestamp = time.perf_counter() - start_episode_t
|
||||
if events["exit_early"]:
|
||||
|
||||
@@ -37,7 +37,15 @@ HALF_TURN_DEGREE = 180
|
||||
# See this link for STS3215 Memory Table:
|
||||
# https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true
|
||||
# data_name: (address, size_byte)
|
||||
SCS_SERIES_CONTROL_TABLE = {
|
||||
|
||||
#####SAFETY CHECKS EXPLAINED#####
|
||||
#There are two safety checks built-in: one is based on load and the other is based on current.
|
||||
#Current: if Protection_Current > Present_Current we wait Over_Current_Protection_Time (expressed in ms) and set Torque_Enable to 0
|
||||
#Load: if Max_Torque_Limit*Overload_Torque (expressed as a percentage) > Present_Load, we wait Protection_Time (expressed in ms
|
||||
#and set Max_Torque_Limit to Protective_Torque)
|
||||
#Though we can specify Min-Max_Angle_Limit, Max_Temperature_Limit, Min-Max_Voltage_Limit, no safety checks are implemented for these values
|
||||
|
||||
STS_SERIES_CONTROL_TABLE = {
|
||||
"Model": (3, 2),
|
||||
"ID": (5, 1),
|
||||
"Baud_Rate": (6, 1),
|
||||
@@ -87,6 +95,124 @@ SCS_SERIES_CONTROL_TABLE = {
|
||||
"Maximum_Acceleration": (85, 2),
|
||||
}
|
||||
|
||||
|
||||
SCS_SERIES_CONTROL_TABLE = {
|
||||
"Model": (3, 2),
|
||||
"ID": (5, 1),
|
||||
"Baud_Rate": (6, 1),
|
||||
"Return_Delay": (7, 1),
|
||||
"Response_Status_Level": (8, 1),
|
||||
"Min_Angle_Limit": (9, 2),
|
||||
"Max_Angle_Limit": (11, 2),
|
||||
"Max_Temperature_Limit": (13, 1),
|
||||
"Max_Voltage_Limit": (14, 1),
|
||||
"Min_Voltage_Limit": (15, 1),
|
||||
"Max_Torque_Limit": (16, 2),
|
||||
"Phase": (18, 1),
|
||||
"Unloading_Condition": (19, 1),
|
||||
"LED_Alarm_Condition": (20, 1),
|
||||
"P_Coefficient": (21, 1),
|
||||
"D_Coefficient": (22, 1),
|
||||
"I_Coefficient": (23, 1),
|
||||
"Minimum_Startup_Force": (24, 2),
|
||||
"CW_Dead_Zone": (26, 1),
|
||||
"CCW_Dead_Zone": (27, 1),
|
||||
# "Protection_Current": (28, 2),
|
||||
# "Angular_Resolution": (30, 1),
|
||||
# "Offset": (31, 2),
|
||||
# "Mode": (33, 1),
|
||||
"Protective_Torque": (37, 1),
|
||||
"Protection_Time": (38, 1),
|
||||
"Torque_Enable": (40, 1),
|
||||
"Acceleration": (41, 1),
|
||||
"Goal_Position": (42, 2),
|
||||
"Running_Time": (44, 2),
|
||||
"Goal_Speed": (46, 2),
|
||||
"Lock": (48, 1),
|
||||
"Present_Position": (56, 2),
|
||||
"Present_Speed": (58, 2),
|
||||
"Present_Load": (60, 2),
|
||||
"Present_Voltage": (62, 1),
|
||||
"Present_Temperature": (63, 1),
|
||||
"Sync_Write_Flag": (64, 1),
|
||||
"Status": (65, 1),
|
||||
"Moving": (66, 1),
|
||||
# "Overload_Torque": (36, 1),
|
||||
# "Speed_closed_loop_P_proportional_coefficient": (37, 1),
|
||||
# "Over_Current_Protection_Time": (38, 1),
|
||||
# "Velocity_closed_loop_I_integral_coefficient": (39, 1),
|
||||
# "Acceleration": (41, 1),
|
||||
# "Goal_Time": (44, 2),
|
||||
# "Torque_Limit": (48, 2),
|
||||
# "Present_Current": (69, 2),
|
||||
# # Not in the Memory Table
|
||||
# "Maximum_Acceleration": (85, 2),
|
||||
}
|
||||
|
||||
SM_SERIES_CONTROL_TABLE = {
|
||||
"Firmware_Main_Version_No": (0, 1),
|
||||
"Firmware_Secondary_Version_No": (1, 1),
|
||||
"Servo_Main_Version_No": (3, 1),
|
||||
"Servo_Secondary_Version_No": (4, 1),
|
||||
"ID": (5, 1),
|
||||
"Baud_Rate": (6, 1),
|
||||
"Return_Delay": (7, 1),
|
||||
"Response_Status_Level": (8, 1),
|
||||
"Min_Position_Limit": (9, 2),
|
||||
"Max_Position_Limit": (11, 2),
|
||||
"Max_Temperature_Limit": (13, 1),
|
||||
"Max_Input_Voltage": (14, 1),
|
||||
"Min_Input_Voltage": (15, 1),
|
||||
"Max_Torque_Limit": (16, 2),
|
||||
"Unloading_Condition": (19, 1),
|
||||
"LED_Alarm_Condition": (20, 1),
|
||||
"P_Coefficient_Location_Ring": (21, 1),
|
||||
"D_Coefficient_Location_Ring": (22, 1),
|
||||
"I_Coefficient_Location_Ring": (23, 1),
|
||||
"Minimum_Startup_Force": (24, 2),
|
||||
"CW_Dead_Zone": (26, 1),
|
||||
"CCW_Dead_Zone": (27, 1),
|
||||
"Protection_Current": (28, 2),
|
||||
"Angular_Resolution": (30, 1),
|
||||
"Offset": (31, 2),
|
||||
"Drive_Mode": (33, 1),
|
||||
"Protective_Torque": (34, 1),
|
||||
"Protection_Time": (35, 1),
|
||||
"Overload_Torque": (36, 1),
|
||||
"Speed_closed_loop_P_proportional_coefficient": (37, 1),
|
||||
"Over_Current_Protection_Time": (38, 1),
|
||||
"Velocity_closed_loop_I_integral_coefficient": (39, 1),
|
||||
|
||||
"Torque_Enable": (40, 1),
|
||||
"Acceleration": (41, 1),
|
||||
"Goal_Position": (42, 2),
|
||||
"Goal_Speed": (46, 2),
|
||||
"Torque_Limit": (48, 2),
|
||||
"Lock": (55, 1),
|
||||
"Present_Position": (56, 2),
|
||||
"Present_Speed": (58, 2),
|
||||
"Present_Load": (60, 2),
|
||||
"Present_Voltage": (62, 1),
|
||||
"Present_Temperature": (63, 1),
|
||||
|
||||
"Status": (65, 1),
|
||||
"Moving": (66, 1),
|
||||
"Present_Current": (69, 2),
|
||||
# Not in the Memory Table
|
||||
"Maximum_Acceleration": (85, 2),
|
||||
}
|
||||
|
||||
STS_SERIES_BAUDRATE_TABLE = {
|
||||
0: 1_000_000,
|
||||
1: 500_000,
|
||||
2: 250_000,
|
||||
3: 128_000,
|
||||
4: 115_200,
|
||||
5: 57_600,
|
||||
6: 38_400,
|
||||
7: 19_200,
|
||||
}
|
||||
|
||||
SCS_SERIES_BAUDRATE_TABLE = {
|
||||
0: 1_000_000,
|
||||
1: 500_000,
|
||||
@@ -98,27 +224,50 @@ SCS_SERIES_BAUDRATE_TABLE = {
|
||||
7: 19_200,
|
||||
}
|
||||
|
||||
SM_SERIES_BAUDRATE_TABLE = {
|
||||
0: 1_000_000,
|
||||
1: 500_000,
|
||||
2: 250_000,
|
||||
3: 128_000,
|
||||
4: 115_200,#default
|
||||
5: 76_800,
|
||||
6: 57_600,
|
||||
7: 38_400,
|
||||
}
|
||||
|
||||
CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
|
||||
CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "Present_Position"]
|
||||
CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "sm8512blPresent_Position"]
|
||||
|
||||
|
||||
MODEL_CONTROL_TABLE = {
|
||||
"sts_series": STS_SERIES_CONTROL_TABLE,
|
||||
"scs_series": SCS_SERIES_CONTROL_TABLE,
|
||||
"sts3215": SCS_SERIES_CONTROL_TABLE,
|
||||
"sts3215": STS_SERIES_CONTROL_TABLE,
|
||||
"sts3250": STS_SERIES_CONTROL_TABLE,
|
||||
"scs0009": SCS_SERIES_CONTROL_TABLE,
|
||||
"sm8512bl": SM_SERIES_CONTROL_TABLE,
|
||||
}
|
||||
|
||||
MODEL_RESOLUTION = {
|
||||
"scs_series": 4096,
|
||||
"sts_series": 4096,
|
||||
"scs_series": 1024,
|
||||
"sts3215": 4096,
|
||||
"sts3250": 4096,
|
||||
"scs0009": 1024,
|
||||
"sm8512bl": 4096,
|
||||
}
|
||||
|
||||
MODEL_BAUDRATE_TABLE = {
|
||||
"sts_series": STS_SERIES_BAUDRATE_TABLE,
|
||||
"scs_series": SCS_SERIES_BAUDRATE_TABLE,
|
||||
"sts3215": SCS_SERIES_BAUDRATE_TABLE,
|
||||
"sts3215": STS_SERIES_BAUDRATE_TABLE,
|
||||
"sts3250": STS_SERIES_BAUDRATE_TABLE,
|
||||
"scs0009": SCS_SERIES_BAUDRATE_TABLE,
|
||||
"sm8512bl": SM_SERIES_BAUDRATE_TABLE,
|
||||
}
|
||||
|
||||
# High number of retries is needed for feetech compared to dynamixel motors.
|
||||
NUM_READ_RETRY = 20
|
||||
NUM_READ_RETRY = 50
|
||||
NUM_WRITE_RETRY = 20
|
||||
|
||||
|
||||
@@ -273,12 +422,18 @@ class FeetechMotorsBus:
|
||||
self,
|
||||
port: str,
|
||||
motors: dict[str, tuple[int, str]],
|
||||
group_sync_read: bool = True,
|
||||
group_sync_write: bool = True,
|
||||
protocol_version: int = 0,
|
||||
extra_model_control_table: dict[str, list[tuple]] | None = None,
|
||||
extra_model_resolution: dict[str, int] | None = None,
|
||||
mock=False,
|
||||
):
|
||||
self.port = port
|
||||
self.motors = motors
|
||||
self.group_sync_read = group_sync_read
|
||||
self.group_sync_write = group_sync_write
|
||||
self.protocol_version = protocol_version
|
||||
self.mock = mock
|
||||
|
||||
self.model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)
|
||||
@@ -311,7 +466,7 @@ class FeetechMotorsBus:
|
||||
import scservo_sdk as scs
|
||||
|
||||
self.port_handler = scs.PortHandler(self.port)
|
||||
self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION)
|
||||
self.packet_handler = scs.PacketHandler(self.protocol_version)
|
||||
|
||||
try:
|
||||
if not self.port_handler.openPort():
|
||||
@@ -335,7 +490,7 @@ class FeetechMotorsBus:
|
||||
import scservo_sdk as scs
|
||||
|
||||
self.port_handler = scs.PortHandler(self.port)
|
||||
self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION)
|
||||
self.packet_handler = scs.PacketHandler(self.protocol_version)
|
||||
|
||||
if not self.port_handler.openPort():
|
||||
raise OSError(f"Failed to open port '{self.port}'.")
|
||||
@@ -661,6 +816,8 @@ class FeetechMotorsBus:
|
||||
else:
|
||||
import scservo_sdk as scs
|
||||
|
||||
scs.SCS_SETEND(self.protocol_version)
|
||||
|
||||
return_list = True
|
||||
if not isinstance(motor_ids, list):
|
||||
return_list = False
|
||||
@@ -699,6 +856,8 @@ class FeetechMotorsBus:
|
||||
else:
|
||||
import scservo_sdk as scs
|
||||
|
||||
scs.SCS_SETEND(self.protocol_version)
|
||||
|
||||
if not self.is_connected:
|
||||
raise RobotDeviceNotConnectedError(
|
||||
f"FeetechMotorsBus({self.port}) is not connected. You need to run `motors_bus.connect()`."
|
||||
@@ -721,31 +880,51 @@ class FeetechMotorsBus:
|
||||
|
||||
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)
|
||||
|
||||
if data_name not in self.group_readers:
|
||||
# create new group reader
|
||||
self.group_readers[group_key] = scs.GroupSyncRead(
|
||||
self.port_handler, self.packet_handler, addr, bytes
|
||||
)
|
||||
if self.group_sync_read:
|
||||
group_key = get_group_sync_key(data_name, motor_names)
|
||||
|
||||
if data_name not in self.group_readers:
|
||||
# create new group reader
|
||||
self.group_readers[group_key] = scs.GroupSyncRead(
|
||||
self.port_handler, self.packet_handler, addr, bytes
|
||||
)
|
||||
for idx in motor_ids:
|
||||
self.group_readers[group_key].addParam(idx)
|
||||
|
||||
for _ in range(NUM_READ_RETRY):
|
||||
comm = self.group_readers[group_key].txRxPacket()
|
||||
if comm == scs.COMM_SUCCESS:
|
||||
break
|
||||
|
||||
if comm != scs.COMM_SUCCESS:
|
||||
raise ConnectionError(
|
||||
f"Read failed due to communication error on port {self.port} for group_key {group_key}: "
|
||||
f"{self.packet_handler.getTxRxResult(comm)}"
|
||||
)
|
||||
|
||||
values = []
|
||||
for idx in motor_ids:
|
||||
self.group_readers[group_key].addParam(idx)
|
||||
value = self.group_readers[group_key].getData(idx, addr, bytes)
|
||||
values.append(value)
|
||||
else:
|
||||
values = []
|
||||
for idx in motor_ids:
|
||||
if bytes == 1:
|
||||
value, comm, error = self.packet_handler.read1ByteTxRx(self.port_handler, idx, addr)
|
||||
elif bytes == 2:
|
||||
value, comm, error = self.packet_handler.read2ByteTxRx(self.port_handler, idx, addr)
|
||||
elif bytes == 4:
|
||||
value, comm, error = self.packet_handler.read4ByteTxRx(self.port_handler, idx, addr)
|
||||
else:
|
||||
raise ValueError(bytes)
|
||||
|
||||
for _ in range(NUM_READ_RETRY):
|
||||
comm = self.group_readers[group_key].txRxPacket()
|
||||
if comm == scs.COMM_SUCCESS:
|
||||
break
|
||||
if comm != scs.COMM_SUCCESS:
|
||||
raise ConnectionError(self.packet_handler.getTxRxResult(comm))
|
||||
elif error != 0:
|
||||
raise ConnectionError(self.packet_handler.getRxPacketError(error))
|
||||
|
||||
if comm != scs.COMM_SUCCESS:
|
||||
raise ConnectionError(
|
||||
f"Read failed due to communication error on port {self.port} for group_key {group_key}: "
|
||||
f"{self.packet_handler.getTxRxResult(comm)}"
|
||||
)
|
||||
|
||||
values = []
|
||||
for idx in motor_ids:
|
||||
value = self.group_readers[group_key].getData(idx, addr, bytes)
|
||||
values.append(value)
|
||||
values.append(value)
|
||||
|
||||
values = np.array(values)
|
||||
|
||||
@@ -775,6 +954,8 @@ class FeetechMotorsBus:
|
||||
else:
|
||||
import scservo_sdk as scs
|
||||
|
||||
scs.SCS_SETEND(self.protocol_version)
|
||||
|
||||
if not isinstance(motor_ids, list):
|
||||
motor_ids = [motor_ids]
|
||||
if not isinstance(values, list):
|
||||
@@ -811,6 +992,8 @@ class FeetechMotorsBus:
|
||||
else:
|
||||
import scservo_sdk as scs
|
||||
|
||||
scs.SCS_SETEND(self.protocol_version)
|
||||
|
||||
if motor_names is None:
|
||||
motor_names = self.motor_names
|
||||
|
||||
@@ -836,27 +1019,31 @@ class FeetechMotorsBus:
|
||||
|
||||
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)
|
||||
|
||||
init_group = data_name not in self.group_readers
|
||||
if init_group:
|
||||
self.group_writers[group_key] = scs.GroupSyncWrite(
|
||||
self.port_handler, self.packet_handler, addr, bytes
|
||||
)
|
||||
if self.group_sync_write:
|
||||
group_key = get_group_sync_key(data_name, motor_names)
|
||||
|
||||
for idx, value in zip(motor_ids, values, strict=True):
|
||||
data = convert_to_bytes(value, bytes, self.mock)
|
||||
init_group = data_name not in self.group_readers
|
||||
if init_group:
|
||||
self.group_writers[group_key].addParam(idx, data)
|
||||
else:
|
||||
self.group_writers[group_key].changeParam(idx, data)
|
||||
self.group_writers[group_key] = scs.GroupSyncWrite(
|
||||
self.port_handler, self.packet_handler, addr, bytes
|
||||
)
|
||||
|
||||
comm = self.group_writers[group_key].txPacket()
|
||||
if comm != scs.COMM_SUCCESS:
|
||||
raise ConnectionError(
|
||||
f"Write failed due to communication error on port {self.port} for group_key {group_key}: "
|
||||
f"{self.packet_handler.getTxRxResult(comm)}"
|
||||
)
|
||||
for idx, value in zip(motor_ids, values, strict=True):
|
||||
data = convert_to_bytes(value, bytes, self.mock)
|
||||
if init_group:
|
||||
self.group_writers[group_key].addParam(idx, data)
|
||||
else:
|
||||
self.group_writers[group_key].changeParam(idx, data)
|
||||
|
||||
comm = self.group_writers[group_key].txPacket()
|
||||
if comm != scs.COMM_SUCCESS:
|
||||
raise ConnectionError(
|
||||
f"Write failed due to communication error on port {self.port} for group_key {group_key}: "
|
||||
f"{self.packet_handler.getTxRxResult(comm)}"
|
||||
)
|
||||
else:
|
||||
raise NotImplementedError()
|
||||
|
||||
# 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)
|
||||
|
||||
@@ -306,16 +306,16 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str
|
||||
calib = {}
|
||||
|
||||
print("Calibrate shoulder_pan")
|
||||
calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan", load_threshold=350, count_threshold=200)
|
||||
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, count_threshold=200)
|
||||
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, count_threshold=200)
|
||||
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")
|
||||
@@ -329,7 +329,7 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str
|
||||
time.sleep(1)
|
||||
|
||||
print("Calibrate wrist_roll")
|
||||
calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True, count_threshold=200)
|
||||
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")
|
||||
@@ -348,7 +348,6 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str
|
||||
arm,
|
||||
"elbow_flex",
|
||||
invert_drive_mode=True,
|
||||
count_threshold=200,
|
||||
in_between_move_hook=in_between_move_elbow_flex_hook,
|
||||
)
|
||||
arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
|
||||
|
||||
1196
lerobot/common/robot_devices/robots/hopejr.py
Normal file
1196
lerobot/common/robot_devices/robots/hopejr.py
Normal file
File diff suppressed because it is too large
Load Diff
@@ -504,7 +504,7 @@ class ManipulatorRobot:
|
||||
# Used when record_data=True
|
||||
follower_goal_pos[name] = goal_pos
|
||||
|
||||
goal_pos = goal_pos.numpy().astype(np.int32)
|
||||
goal_pos = goal_pos.numpy().astype(np.float32)
|
||||
self.follower_arms[name].write("Goal_Position", goal_pos)
|
||||
self.logs[f"write_follower_{name}_goal_pos_dt_s"] = time.perf_counter() - before_fwrite_t
|
||||
|
||||
@@ -626,7 +626,7 @@ class ManipulatorRobot:
|
||||
action_sent.append(goal_pos)
|
||||
|
||||
# Send goal position to each follower
|
||||
goal_pos = goal_pos.numpy().astype(np.int32)
|
||||
goal_pos = goal_pos.numpy().astype(np.float32)
|
||||
self.follower_arms[name].write("Goal_Position", goal_pos)
|
||||
|
||||
return torch.cat(action_sent)
|
||||
|
||||
10
lerobot/configs/env/hopejr_real.yaml
vendored
Normal file
10
lerobot/configs/env/hopejr_real.yaml
vendored
Normal file
@@ -0,0 +1,10 @@
|
||||
# @package _global_
|
||||
|
||||
fps: 30
|
||||
|
||||
env:
|
||||
name: real_world
|
||||
task: null
|
||||
state_dim: 16
|
||||
action_dim: 16
|
||||
fps: ${fps}
|
||||
97
lerobot/configs/policy/act_hopejr_real.yaml
Normal file
97
lerobot/configs/policy/act_hopejr_real.yaml
Normal file
@@ -0,0 +1,97 @@
|
||||
# @package _global_
|
||||
|
||||
# Use `act_koch_real.yaml` to train on real-world datasets collected on Alexander Koch's robots.
|
||||
# Compared to `act.yaml`, it contains 2 cameras (i.e. laptop, phone) instead of 1 camera (i.e. top).
|
||||
# Also, `training.eval_freq` is set to -1. This config is used to evaluate checkpoints at a certain frequency of training steps.
|
||||
# When it is set to -1, it deactivates evaluation. This is because real-world evaluation is done through our `control_robot.py` script.
|
||||
# Look at the documentation in header of `control_robot.py` for more information on how to collect data , train and evaluate a policy.
|
||||
#
|
||||
# Example of usage for training:
|
||||
# ```bash
|
||||
# python lerobot/scripts/train.py \
|
||||
# policy=act_koch_real \
|
||||
# env=koch_real
|
||||
# ```
|
||||
|
||||
seed: 1000
|
||||
dataset_repo_id: nepyope/hopejr_test
|
||||
|
||||
override_dataset_stats:
|
||||
|
||||
observation.images.phone:
|
||||
# stats from imagenet, since we use a pretrained vision model
|
||||
mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1)
|
||||
std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1)
|
||||
|
||||
training:
|
||||
offline_steps: 80000
|
||||
online_steps: 0
|
||||
eval_freq: -1
|
||||
save_freq: 10000
|
||||
log_freq: 100
|
||||
save_checkpoint: true
|
||||
|
||||
batch_size: 8
|
||||
lr: 1e-5
|
||||
lr_backbone: 1e-5
|
||||
weight_decay: 1e-4
|
||||
grad_clip_norm: 10
|
||||
online_steps_between_rollouts: 1
|
||||
|
||||
delta_timestamps:
|
||||
action: "[i / ${fps} for i in range(${policy.chunk_size})]"
|
||||
|
||||
eval:
|
||||
n_episodes: 50
|
||||
batch_size: 50
|
||||
|
||||
# See `configuration_act.py` for more details.
|
||||
policy:
|
||||
name: act
|
||||
|
||||
# Input / output structure.
|
||||
n_obs_steps: 1
|
||||
chunk_size: 100
|
||||
n_action_steps: 100
|
||||
|
||||
input_shapes:
|
||||
# TODO(rcadene, alexander-soare): add variables for height and width from the dataset/env?
|
||||
observation.images.phone: [3, 480, 640]
|
||||
observation.state: ["${env.state_dim}"]
|
||||
output_shapes:
|
||||
action: ["${env.action_dim}"]
|
||||
|
||||
# Normalization / Unnormalization
|
||||
input_normalization_modes:
|
||||
observation.images.phone: mean_std
|
||||
observation.state: mean_std
|
||||
output_normalization_modes:
|
||||
action: mean_std
|
||||
|
||||
# Architecture.
|
||||
# Vision backbone.
|
||||
vision_backbone: resnet18
|
||||
pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
|
||||
replace_final_stride_with_dilation: false
|
||||
# Transformer layers.
|
||||
pre_norm: false
|
||||
dim_model: 512
|
||||
n_heads: 8
|
||||
dim_feedforward: 3200
|
||||
feedforward_activation: relu
|
||||
n_encoder_layers: 4
|
||||
# Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code
|
||||
# that means only the first layer is used. Here we match the original implementation by setting this to 1.
|
||||
# See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521.
|
||||
n_decoder_layers: 1
|
||||
# VAE.
|
||||
use_vae: true
|
||||
latent_dim: 32
|
||||
n_vae_encoder_layers: 4
|
||||
|
||||
# Inference.
|
||||
temporal_ensemble_momentum: null
|
||||
|
||||
# Training and loss computation.
|
||||
dropout: 0.1
|
||||
kl_weight: 10.0
|
||||
73
lerobot/configs/robot/hopejr.yaml
Normal file
73
lerobot/configs/robot/hopejr.yaml
Normal file
@@ -0,0 +1,73 @@
|
||||
# [SO-100 robot arm](https://github.com/TheRobotStudio/SO-ARM100)
|
||||
|
||||
# Requires installing extras packages
|
||||
# With pip: `pip install -e ".[feetech]"`
|
||||
# With poetry: `poetry install --sync --extras "feetech"`
|
||||
|
||||
# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md)
|
||||
|
||||
_target_: lerobot.common.robot_devices.robots.hopejr.HopeJrRobot
|
||||
# robot_type: hopejr
|
||||
# calibration_dir: .cache/calibration/hopejr
|
||||
|
||||
# # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
|
||||
# # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
|
||||
# # the number of motors in your follower arms.
|
||||
# max_relative_target: null
|
||||
|
||||
# leader_arms:
|
||||
# main:
|
||||
# _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
|
||||
# port: /dev/tty.usbmodem585A0077581
|
||||
# motors:
|
||||
# # name: (index, model)
|
||||
# shoulder_pan: [1, "sts3215"]
|
||||
# shoulder_lift: [2, "sts3215"]
|
||||
# elbow_flex: [3, "sts3215"]
|
||||
# wrist_flex: [4, "sts3215"]
|
||||
# wrist_roll: [5, "sts3215"]
|
||||
# gripper: [6, "sts3215"]
|
||||
|
||||
# follower_arms:
|
||||
# main:
|
||||
# _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
|
||||
# port: /dev/tty.usbserial-2130
|
||||
# motors:
|
||||
# # name: (index, model)
|
||||
# shoulder_pitch: [1, "sts3250"]
|
||||
# shoulder_yaw: [2, "sts3215"] # TODO: sts3250
|
||||
# shoulder_roll: [3, "sts3215"] # TODO: sts3250
|
||||
# elbow_flex: [4, "sts3250"]
|
||||
# wrist_roll: [5, "sts3215"]
|
||||
# wrist_yaw: [6, "sts3215"]
|
||||
# wrist_pitch: [7, "sts3215"]
|
||||
# thumb_basel_rotation: [30, "scs0009"]
|
||||
# thumb_flexion: [27, "scs0009"]
|
||||
# thumb_pinky_side: [26, "scs0009"]
|
||||
# thumb_thumb_side: [28, "scs0009"]
|
||||
# index_flexor: [25, "scs0009"]
|
||||
# index_pinky_side: [31, "scs0009"]
|
||||
# index_thumb_side: [32, "scs0009"]
|
||||
# middle_flexor: [24, "scs0009"]
|
||||
# middle_pinky_side: [33, "scs0009"]
|
||||
# middle_thumb_side: [34, "scs0009"]
|
||||
# ring_flexor: [21, "scs0009"]
|
||||
# ring_pinky_side: [36, "scs0009"]
|
||||
# ring_thumb_side: [35, "scs0009"]
|
||||
# pinky_flexor: [23, "scs0009"]
|
||||
# pinky_pinky_side: [38, "scs0009"]
|
||||
# pinky_thumb_side: [37, "scs0009"]
|
||||
|
||||
cameras:
|
||||
# laptop:
|
||||
# _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
|
||||
# camera_index: 0
|
||||
# fps: 30
|
||||
# width: 640
|
||||
# height: 480
|
||||
phone:
|
||||
_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
|
||||
camera_index: 0
|
||||
fps: 30
|
||||
width: 640
|
||||
height: 480
|
||||
@@ -225,7 +225,8 @@ def record(
|
||||
# Load pretrained policy
|
||||
if pretrained_policy_name_or_path is not None:
|
||||
policy, policy_fps, device, use_amp = init_policy(pretrained_policy_name_or_path, policy_overrides)
|
||||
|
||||
device="mps"
|
||||
policy.to(device)
|
||||
if fps is None:
|
||||
fps = policy_fps
|
||||
logging.warning(f"No fps provided, so using the fps from policy config ({policy_fps}).")
|
||||
@@ -258,7 +259,7 @@ def record(
|
||||
# 3. place the cameras windows on screen
|
||||
enable_teleoperation = policy is None
|
||||
log_say("Warmup record", play_sounds)
|
||||
warmup_record(robot, events, enable_teleoperation, warmup_time_s, display_cameras, fps)
|
||||
# warmup_record(robot, events, enable_teleoperation, warmup_time_s, display_cameras, fps)
|
||||
|
||||
if has_method(robot, "teleop_safety_stop"):
|
||||
robot.teleop_safety_stop()
|
||||
@@ -509,6 +510,7 @@ if __name__ == "__main__":
|
||||
del kwargs["robot_path"]
|
||||
del kwargs["robot_overrides"]
|
||||
|
||||
|
||||
robot_cfg = init_hydra_config(robot_path, robot_overrides)
|
||||
robot = make_robot(robot_cfg)
|
||||
|
||||
|
||||
BIN
nice were not even close .png
Normal file
BIN
nice were not even close .png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 43 KiB |
174
servo_log.txt
Normal file
174
servo_log.txt
Normal file
@@ -0,0 +1,174 @@
|
||||
Logging parameters for servo: shoulder_pitch
|
||||
Duration: 2s, Interval: 0.1s
|
||||
==================================================
|
||||
Timestamp: 0.000
|
||||
Present_Current = [19]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [123]
|
||||
Present_Load = [123]
|
||||
Present_Position = [1803]
|
||||
--------------------------------------------------
|
||||
Timestamp: 0.105
|
||||
Present_Current = [51]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [121]
|
||||
Present_Load = [207]
|
||||
Present_Position = [1742]
|
||||
--------------------------------------------------
|
||||
Timestamp: 0.211
|
||||
Present_Current = [130]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [120]
|
||||
Present_Load = [363]
|
||||
Present_Position = [1668]
|
||||
--------------------------------------------------
|
||||
Timestamp: 0.316
|
||||
Present_Current = [192]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [120]
|
||||
Present_Load = [471]
|
||||
Present_Position = [1564]
|
||||
--------------------------------------------------
|
||||
Timestamp: 0.422
|
||||
Present_Current = [177]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [120]
|
||||
Present_Load = [503]
|
||||
Present_Position = [1428]
|
||||
--------------------------------------------------
|
||||
Timestamp: 0.528
|
||||
Present_Current = [294]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [118]
|
||||
Present_Load = [615]
|
||||
Present_Position = [1282]
|
||||
--------------------------------------------------
|
||||
Timestamp: 0.633
|
||||
Present_Current = [360]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [118]
|
||||
Present_Load = [671]
|
||||
Present_Position = [1141]
|
||||
--------------------------------------------------
|
||||
Timestamp: 0.739
|
||||
Present_Current = [360]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [118]
|
||||
Present_Load = [639]
|
||||
Present_Position = [1012]
|
||||
--------------------------------------------------
|
||||
Timestamp: 0.845
|
||||
Present_Current = [348]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [118]
|
||||
Present_Load = [615]
|
||||
Present_Position = [907]
|
||||
--------------------------------------------------
|
||||
Timestamp: 0.951
|
||||
Present_Current = [407]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [118]
|
||||
Present_Load = [643]
|
||||
Present_Position = [830]
|
||||
--------------------------------------------------
|
||||
Timestamp: 1.057
|
||||
Present_Current = [479]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [38]
|
||||
Present_Voltage = [117]
|
||||
Present_Load = [679]
|
||||
Present_Position = [776]
|
||||
--------------------------------------------------
|
||||
Timestamp: 1.163
|
||||
Present_Current = [0]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [122]
|
||||
Present_Load = [0]
|
||||
Present_Position = [947]
|
||||
--------------------------------------------------
|
||||
Timestamp: 1.269
|
||||
Present_Current = [0]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [122]
|
||||
Present_Load = [0]
|
||||
Present_Position = [1136]
|
||||
--------------------------------------------------
|
||||
Timestamp: 1.375
|
||||
Present_Current = [0]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [122]
|
||||
Present_Load = [0]
|
||||
Present_Position = [1438]
|
||||
--------------------------------------------------
|
||||
Timestamp: 1.481
|
||||
Present_Current = [0]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [122]
|
||||
Present_Load = [0]
|
||||
Present_Position = [1782]
|
||||
--------------------------------------------------
|
||||
Timestamp: 1.587
|
||||
Present_Current = [0]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [122]
|
||||
Present_Load = [0]
|
||||
Present_Position = [1949]
|
||||
--------------------------------------------------
|
||||
Timestamp: 1.693
|
||||
Present_Current = [0]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [122]
|
||||
Present_Load = [0]
|
||||
Present_Position = [2042]
|
||||
--------------------------------------------------
|
||||
Timestamp: 1.799
|
||||
Present_Current = [0]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [122]
|
||||
Present_Load = [0]
|
||||
Present_Position = [2049]
|
||||
--------------------------------------------------
|
||||
Timestamp: 1.906
|
||||
Present_Current = [0]
|
||||
Protection_Current = [310]
|
||||
Over_Current_Protection_Time = [50]
|
||||
Present_Temperature = [37]
|
||||
Present_Voltage = [122]
|
||||
Present_Load = [0]
|
||||
Present_Position = [1997]
|
||||
--------------------------------------------------
|
||||
1107
shoulder_pitch_fail.txt
Normal file
1107
shoulder_pitch_fail.txt
Normal file
File diff suppressed because it is too large
Load Diff
BIN
shoulder_pitch_log_200ms.png
Normal file
BIN
shoulder_pitch_log_200ms.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 64 KiB |
BIN
shoulder_pitch_log_50ms.png
Normal file
BIN
shoulder_pitch_log_50ms.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 66 KiB |
BIN
shoulder_pitch_parameters_plot.png
Normal file
BIN
shoulder_pitch_parameters_plot.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 66 KiB |
@@ -18,6 +18,10 @@ def convert_to_bytes(value, bytes):
|
||||
return value
|
||||
|
||||
|
||||
def SCS_SETEND(protocol_version):
|
||||
del protocol_version
|
||||
|
||||
|
||||
def get_default_motor_values(motor_index):
|
||||
return {
|
||||
# Key (int) are from SCS_SERIES_CONTROL_TABLE
|
||||
|
||||
Reference in New Issue
Block a user