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

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Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-10-25 11:23:55 +02:00
committed by GitHub
parent 114870d703
commit 07e8716315
42 changed files with 2911 additions and 340 deletions
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181
lerobot/common/robot_devices/motors/dynamixel.py
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@@ -4,7 +4,6 @@ import math
import time
import traceback
from copy import deepcopy
from pathlib import Path
import numpy as np
import tqdm
@@ -229,35 +228,6 @@ def assert_same_address(model_ctrl_table, motor_models, data_name):
)
def find_available_ports():
ports = []
for path in Path("/dev").glob("tty*"):
ports.append(str(path))
return ports
def find_port():
print("Finding all available ports for the DynamixelMotorsBus.")
ports_before = find_available_ports()
print(ports_before)
print("Remove the usb cable from your DynamixelMotorsBus and press Enter when done.")
input()
time.sleep(0.5)
ports_after = find_available_ports()
ports_diff = list(set(ports_before) - set(ports_after))
if len(ports_diff) == 1:
port = ports_diff[0]
print(f"The port of this DynamixelMotorsBus is '{port}'")
print("Reconnect the usb cable.")
elif len(ports_diff) == 0:
raise OSError(f"Could not detect the port. No difference was found ({ports_diff}).")
else:
raise OSError(f"Could not detect the port. More than one port was found ({ports_diff}).")
class TorqueMode(enum.Enum):
ENABLED = 1
DISABLED = 0
@@ -290,8 +260,8 @@ class DynamixelMotorsBus:
A DynamixelMotorsBus instance requires a port (e.g. `DynamixelMotorsBus(port="/dev/tty.usbmodem575E0031751"`)).
To find the port, you can run our utility script:
```bash
python lerobot/common/robot_devices/motors/dynamixel.py
>>> Finding all available ports for the DynamixelMotorsBus.
python lerobot/scripts/find_motors_bus_port.py
>>> Finding all available ports for the MotorBus.
>>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
>>> Remove the usb cable from your DynamixelMotorsBus and press Enter when done.
>>> The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751.
@@ -369,7 +339,7 @@ class DynamixelMotorsBus:
except Exception:
traceback.print_exc()
print(
"\nTry running `python lerobot/common/robot_devices/motors/dynamixel.py` to make sure you are using the correct port.\n"
"\nTry running `python lerobot/scripts/find_motors_bus_port.py` to make sure you are using the correct port.\n"
)
raise
@@ -378,20 +348,6 @@ class DynamixelMotorsBus:
self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS)
# Set expected baudrate for the bus
self.set_bus_baudrate(BAUDRATE)
if not self.are_motors_configured():
input(
"\n/!\\ A configuration issue has been detected with your motors: \n"
"If it's the first time that you use these motors, press enter to configure your motors... but before "
"verify that all the cables are connected the proper way. If you find an issue, before making a modification, "
"kill the python process, unplug the power cord to not damage the motors, rewire correctly, then plug the power "
"again and relaunch the script.\n"
)
print()
self.configure_motors()
def reconnect(self):
if self.mock:
import tests.mock_dynamixel_sdk as dxl
@@ -415,120 +371,14 @@ class DynamixelMotorsBus:
print(e)
return False
def configure_motors(self):
# TODO(rcadene): This script assumes motors follow the X_SERIES baudrates
# TODO(rcadene): Refactor this function with intermediate high-level functions
print("Scanning all baudrates and motor indices")
all_baudrates = set(X_SERIES_BAUDRATE_TABLE.values())
ids_per_baudrate = {}
for baudrate in all_baudrates:
self.set_bus_baudrate(baudrate)
present_ids = self.find_motor_indices()
if len(present_ids) > 0:
ids_per_baudrate[baudrate] = present_ids
print(f"Motor indices detected: {ids_per_baudrate}")
print()
possible_baudrates = list(ids_per_baudrate.keys())
possible_ids = list({idx for sublist in ids_per_baudrate.values() for idx in sublist})
untaken_ids = list(set(range(MAX_ID_RANGE)) - set(possible_ids) - set(self.motor_indices))
# Connect successively one motor to the chain and write a unique random index for each
for i in range(len(self.motors)):
self.disconnect()
input(
"1. Unplug the power cord\n"
"2. Plug/unplug minimal number of cables to only have the first "
f"{i+1} motor(s) ({self.motor_names[:i+1]}) connected.\n"
"3. Re-plug the power cord\n"
"Press Enter to continue..."
)
print()
self.reconnect()
if i > 0:
try:
self._read_with_motor_ids(self.motor_models, untaken_ids[:i], "ID")
except ConnectionError:
print(f"Failed to read from {untaken_ids[:i+1]}. Make sure the power cord is plugged in.")
input("Press Enter to continue...")
print()
self.reconnect()
print("Scanning possible baudrates and motor indices")
motor_found = False
for baudrate in possible_baudrates:
self.set_bus_baudrate(baudrate)
present_ids = self.find_motor_indices(possible_ids)
if len(present_ids) == 1:
present_idx = present_ids[0]
print(f"Detected motor with index {present_idx}")
if baudrate != BAUDRATE:
print(f"Setting its baudrate to {BAUDRATE}")
baudrate_idx = list(X_SERIES_BAUDRATE_TABLE.values()).index(BAUDRATE)
# The write can fail, so we allow retries
for _ in range(NUM_WRITE_RETRY):
self._write_with_motor_ids(
self.motor_models, present_idx, "Baud_Rate", baudrate_idx
)
time.sleep(0.5)
self.set_bus_baudrate(BAUDRATE)
try:
present_baudrate_idx = self._read_with_motor_ids(
self.motor_models, present_idx, "Baud_Rate"
)
except ConnectionError:
print("Failed to write baudrate. Retrying.")
self.set_bus_baudrate(baudrate)
continue
break
else:
raise
if present_baudrate_idx != baudrate_idx:
raise OSError("Failed to write baudrate.")
print(f"Setting its index to a temporary untaken index ({untaken_ids[i]})")
self._write_with_motor_ids(self.motor_models, present_idx, "ID", untaken_ids[i])
present_idx = self._read_with_motor_ids(self.motor_models, untaken_ids[i], "ID")
if present_idx != untaken_ids[i]:
raise OSError("Failed to write index.")
motor_found = True
break
elif len(present_ids) > 1:
raise OSError(f"More than one motor detected ({present_ids}), but only one was expected.")
if not motor_found:
raise OSError(
"No motor found, but one new motor expected. Verify power cord is plugged in and retry."
)
print()
print(f"Setting expected motor indices: {self.motor_indices}")
self.set_bus_baudrate(BAUDRATE)
self._write_with_motor_ids(
self.motor_models, untaken_ids[: len(self.motors)], "ID", self.motor_indices
)
print()
if (self.read("ID") != self.motor_indices).any():
raise OSError("Failed to write motors indices.")
print("Configuration is done!")
def find_motor_indices(self, possible_ids=None):
def find_motor_indices(self, possible_ids=None, num_retry=2):
if possible_ids is None:
possible_ids = range(MAX_ID_RANGE)
indices = []
for idx in tqdm.tqdm(possible_ids):
try:
present_idx = self._read_with_motor_ids(self.motor_models, [idx], "ID")[0]
present_idx = self.read_with_motor_ids(self.motor_models, [idx], "ID", num_retry=num_retry)[0]
except ConnectionError:
continue
@@ -788,7 +638,7 @@ class DynamixelMotorsBus:
values = np.round(values).astype(np.int32)
return values
def _read_with_motor_ids(self, motor_models, motor_ids, data_name):
def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
if self.mock:
import tests.mock_dynamixel_sdk as dxl
else:
@@ -805,7 +655,11 @@ class DynamixelMotorsBus:
for idx in motor_ids:
group.addParam(idx)
comm = group.txRxPacket()
for _ in range(num_retry):
comm = group.txRxPacket()
if comm == dxl.COMM_SUCCESS:
break
if comm != dxl.COMM_SUCCESS:
raise ConnectionError(
f"Read failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: "
@@ -895,7 +749,7 @@ class DynamixelMotorsBus:
return values
def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values):
def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
if self.mock:
import tests.mock_dynamixel_sdk as dxl
else:
@@ -913,7 +767,11 @@ class DynamixelMotorsBus:
data = convert_to_bytes(value, bytes, self.mock)
group.addParam(idx, data)
comm = group.txPacket()
for _ in range(num_retry):
comm = group.txPacket()
if comm == dxl.COMM_SUCCESS:
break
if comm != dxl.COMM_SUCCESS:
raise ConnectionError(
f"Write failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: "
@@ -1007,8 +865,3 @@ class DynamixelMotorsBus:
def __del__(self):
if getattr(self, "is_connected", False):
self.disconnect()
if __name__ == "__main__":
# Helper to find the usb port associated to all your DynamixelMotorsBus.
find_port()