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This commit is contained in:
Remi Cadene
2024-10-23 17:50:40 +02:00
parent 68d7ab9729
commit 67b28e17dc
8 changed files with 30 additions and 22 deletions
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7
examples/7_get_started_with_real_robot.md
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@@ -83,7 +83,7 @@ python lerobot/scripts/find_motors_bus_port.py
Example output when identifying the leader arm's port (e.g., `/dev/tty.usbmodem575E0031751` on Mac, or possibly `/dev/ttyACM0` on Linux): 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 DynamixelMotorsBus. Finding all available ports for the MotorBus.
['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
Remove the usb cable from your DynamixelMotorsBus and press Enter when done. Remove the usb cable from your DynamixelMotorsBus and press Enter when done.
@@ -95,7 +95,7 @@ Reconnect the usb cable.
Example output when identifying the follower arm's port (e.g., `/dev/tty.usbmodem575E0032081`, or possibly `/dev/ttyACM1` on Linux): 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 DynamixelMotorsBus. Finding all available ports for the MotorBus.
['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
Remove the usb cable from your DynamixelMotorsBus and press Enter when done. Remove the usb cable from your DynamixelMotorsBus and press Enter when done.
@@ -544,8 +544,7 @@ To instantiate an [`OpenCVCamera`](../lerobot/common/robot_devices/cameras/openc
To find the camera indices, run the following utility script, which will save a few frames from each detected camera: To find the camera indices, run the following utility script, which will save a few frames from each detected camera:
```bash ```bash
python lerobot/scripts/save_images_from_cameras.py \ python lerobot/common/robot_devices/cameras/opencv.py \
--driver opencv \
--images-dir outputs/images_from_opencv_cameras --images-dir outputs/images_from_opencv_cameras
``` ```

3
lerobot/__init__.py
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@@ -198,6 +198,8 @@ available_robots = [
"koch", "koch",
"koch_bimanual", "koch_bimanual",
"aloha", "aloha",
"so100",
"moss",
] ]
# lists all available cameras from `lerobot/common/robot_devices/cameras` # lists all available cameras from `lerobot/common/robot_devices/cameras`
@@ -209,6 +211,7 @@ available_cameras = [
# lists all available motors from `lerobot/common/robot_devices/motors` # lists all available motors from `lerobot/common/robot_devices/motors`
available_motors = [ available_motors = [
"dynamixel", "dynamixel",
"feetech",
] ]
# keys and values refer to yaml files # keys and values refer to yaml files

3
lerobot/common/robot_devices/cameras/intelrealsense.py
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@@ -200,8 +200,7 @@ class IntelRealSenseCamera:
To find the camera indices of your cameras, you can run our utility script that will save a few frames for each camera: To find the camera indices of your cameras, you can run our utility script that will save a few frames for each camera:
```bash ```bash
python lerobot/scripts/save_images_from_cameras.py \ python lerobot/common/robot_devices/cameras/intelrealsense.py \
--driver intelrealsense \
--images-dir outputs/images_from_intelrealsense_cameras --images-dir outputs/images_from_intelrealsense_cameras
``` ```

5
lerobot/common/robot_devices/cameras/opencv.py
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@@ -216,8 +216,7 @@ class OpenCVCamera:
To find the camera indices of your cameras, you can run our utility script that will be save a few frames for each camera: To find the camera indices of your cameras, you can run our utility script that will be save a few frames for each camera:
```bash ```bash
python lerobot/scripts/save_images_from_cameras.py \ python lerobot/common/robot_devices/cameras/opencv.py \
--driver opencv \
--images-dir outputs/images_from_opencv_cameras --images-dir outputs/images_from_opencv_cameras
``` ```
@@ -325,7 +324,7 @@ class OpenCVCamera:
if self.camera_index not in available_cam_ids: if self.camera_index not in available_cam_ids:
raise ValueError( raise ValueError(
f"`camera_index` is expected to be one of these available cameras {available_cam_ids}, but {self.camera_index} is provided instead. " f"`camera_index` is expected to be one of these available cameras {available_cam_ids}, but {self.camera_index} is provided instead. "
"To find the camera index you should use, run `python lerobot/scripts/save_images_from_cameras.py --driver opencv`." "To find the camera index you should use, run `python lerobot/lerobot/common/robot_devices/cameras/opencv.py`."
) )
raise OSError(f"Can't access OpenCVCamera({camera_idx}).") raise OSError(f"Can't access OpenCVCamera({camera_idx}).")

22
lerobot/common/robot_devices/motors/dynamixel.py
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@@ -261,7 +261,7 @@ class DynamixelMotorsBus:
To find the port, you can run our utility script: To find the port, you can run our utility script:
```bash ```bash
python lerobot/scripts/find_motors_bus_port.py python lerobot/scripts/find_motors_bus_port.py
>>> Finding all available ports for the DynamixelMotorsBus. >>> Finding all available ports for the MotorBus.
>>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] >>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
>>> Remove the usb cable from your DynamixelMotorsBus and press Enter when done. >>> Remove the usb cable from your DynamixelMotorsBus and press Enter when done.
>>> The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751. >>> The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751.
@@ -371,14 +371,14 @@ class DynamixelMotorsBus:
print(e) print(e)
return False return False
def find_motor_indices(self, possible_ids=None): def find_motor_indices(self, possible_ids=None, num_retry=2):
if possible_ids is None: if possible_ids is None:
possible_ids = range(MAX_ID_RANGE) possible_ids = range(MAX_ID_RANGE)
indices = [] indices = []
for idx in tqdm.tqdm(possible_ids): for idx in tqdm.tqdm(possible_ids):
try: 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: except ConnectionError:
continue continue
@@ -638,7 +638,7 @@ class DynamixelMotorsBus:
values = np.round(values).astype(np.int32) values = np.round(values).astype(np.int32)
return values 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: if self.mock:
import tests.mock_dynamixel_sdk as dxl import tests.mock_dynamixel_sdk as dxl
else: else:
@@ -655,7 +655,11 @@ class DynamixelMotorsBus:
for idx in motor_ids: for idx in motor_ids:
group.addParam(idx) 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: if comm != dxl.COMM_SUCCESS:
raise ConnectionError( raise ConnectionError(
f"Read failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: " f"Read failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: "
@@ -745,7 +749,7 @@ class DynamixelMotorsBus:
return values 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: if self.mock:
import tests.mock_dynamixel_sdk as dxl import tests.mock_dynamixel_sdk as dxl
else: else:
@@ -763,7 +767,11 @@ class DynamixelMotorsBus:
data = convert_to_bytes(value, bytes, self.mock) data = convert_to_bytes(value, bytes, self.mock)
group.addParam(idx, data) 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: if comm != dxl.COMM_SUCCESS:
raise ConnectionError( raise ConnectionError(
f"Write failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: " f"Write failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: "

9
lerobot/common/robot_devices/motors/feetech.py
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@@ -94,6 +94,7 @@ SCS_SERIES_CONTROL_TABLE = {
"Status": (65, 1), "Status": (65, 1),
"Moving": (66, 1), "Moving": (66, 1),
"Present_Current": (69, 2), "Present_Current": (69, 2),
# Not in the Memory Table
"Maximum_Acceleration": (85, 2), "Maximum_Acceleration": (85, 2),
} }
@@ -127,6 +128,7 @@ MODEL_BAUDRATE_TABLE = {
"sts3215": SCS_SERIES_BAUDRATE_TABLE, "sts3215": SCS_SERIES_BAUDRATE_TABLE,
} }
# High number of retries is needed for feetech compared to dynamixel motors.
NUM_READ_RETRY = 20 NUM_READ_RETRY = 20
NUM_WRITE_RETRY = 20 NUM_WRITE_RETRY = 20
@@ -235,7 +237,6 @@ class JointOutOfRangeError(Exception):
class FeetechMotorsBus: class FeetechMotorsBus:
# TODO(rcadene): Add a script to find the motor indices without feetechWizzard2
""" """
The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on
the python feetech sdk to communicate with the motors. For more info, see the [feetech SDK Documentation](https://emanual.robotis.com/docs/en/software/feetech/feetech_sdk/sample_code/python_read_write_protocol_2_0/#python-read-write-protocol-20). the python feetech sdk to communicate with the motors. For more info, see the [feetech SDK Documentation](https://emanual.robotis.com/docs/en/software/feetech/feetech_sdk/sample_code/python_read_write_protocol_2_0/#python-read-write-protocol-20).
@@ -243,8 +244,8 @@ class FeetechMotorsBus:
A FeetechMotorsBus instance requires a port (e.g. `FeetechMotorsBus(port="/dev/tty.usbmodem575E0031751"`)). A FeetechMotorsBus instance requires a port (e.g. `FeetechMotorsBus(port="/dev/tty.usbmodem575E0031751"`)).
To find the port, you can run our utility script: To find the port, you can run our utility script:
```bash ```bash
python lerobot/common/robot_devices/motors/feetech.py python lerobot/scripts/find_motors_bus_port.py
>>> Finding all available ports for the FeetechMotorsBus. >>> Finding all available ports for the MotorsBus.
>>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] >>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
>>> Remove the usb cable from your FeetechMotorsBus and press Enter when done. >>> Remove the usb cable from your FeetechMotorsBus and press Enter when done.
>>> The port of this FeetechMotorsBus is /dev/tty.usbmodem575E0031751. >>> The port of this FeetechMotorsBus is /dev/tty.usbmodem575E0031751.
@@ -255,7 +256,7 @@ class FeetechMotorsBus:
```python ```python
motor_name = "gripper" motor_name = "gripper"
motor_index = 6 motor_index = 6
motor_model = "xl330-m288" motor_model = "sts3215"
motors_bus = FeetechMotorsBus( motors_bus = FeetechMotorsBus(
port="/dev/tty.usbmodem575E0031751", port="/dev/tty.usbmodem575E0031751",

1
lerobot/common/robot_devices/robots/dynamixel_calibration.py
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@@ -39,7 +39,6 @@ def compute_nearest_rounded_position(position, models):
delta_turn = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, models) delta_turn = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, models)
nearest_pos = np.round(position.astype(float) / delta_turn) * delta_turn nearest_pos = np.round(position.astype(float) / delta_turn) * delta_turn
return nearest_pos.astype(position.dtype) return nearest_pos.astype(position.dtype)
return position
def run_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str): def run_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):

2
tests/test_motors.py
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@@ -30,8 +30,8 @@ import time
import numpy as np import numpy as np
import pytest import pytest
from lerobot.common.robot_devices.motors.dynamixel import find_port
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.scripts.find_motors_bus_port import find_port
from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor