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Removed configuration and port finding code from classes no longer necessary.

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This commit is contained in:
jess-moss
2024-09-17 16:31:08 -05:00
parent 1c1882e5eb
commit aa22946a7f
5 changed files with 6 additions and 298 deletions
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146
lerobot/common/robot_devices/motors/dynamixel.py
View File

@@ -4,7 +4,6 @@ import math
import time
import traceback
from copy import deepcopy
from pathlib import Path
import numpy as np
import tqdm
@@ -235,35 +234,6 @@ 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
@@ -377,11 +347,6 @@ class DynamixelMotorsBus:
self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS)
if not self.are_motors_configured():
raise OSError(
"Motors are not configured. Please use configure_motors.py to configure motors before continuing."
)
def reconnect(self):
self.port_handler = PortHandler(self.port)
self.packet_handler = PacketHandler(PROTOCOL_VERSION)
@@ -398,112 +363,6 @@ 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):
if possible_ids is None:
possible_ids = range(MAX_ID_RANGE)
@@ -968,8 +827,3 @@ 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()

146
lerobot/common/robot_devices/motors/feetech.py
View File

@@ -4,7 +4,6 @@ import math
import time
import traceback
from copy import deepcopy
from pathlib import Path
import numpy as np
import tqdm
@@ -208,35 +207,6 @@ 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 FeetechMotorsBus.")
ports_before = find_available_ports()
print(ports_before)
print("Remove the usb cable from your FeetechMotorsBus 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 FeetechMotorsBus 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
@@ -350,11 +320,6 @@ class FeetechMotorsBus:
self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS)
if not self.are_motors_configured():
raise OSError(
"Motors are not configured. Please use configure_motors.py to configure motors before continuing."
)
def reconnect(self):
self.port_handler = PortHandler(self.port)
self.packet_handler = PacketHandler(PROTOCOL_VERSION)
@@ -371,112 +336,6 @@ class FeetechMotorsBus:
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(SCS_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(SCS_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):
if possible_ids is None:
possible_ids = range(MAX_ID_RANGE)
@@ -941,8 +800,3 @@ class FeetechMotorsBus:
def __del__(self):
if getattr(self, "is_connected", False):
self.disconnect()
if __name__ == "__main__":
# Helper to find the usb port associated to all your FeetechMotorsBus.
find_port()

2
lerobot/scripts/configure_motor.py
View File

@@ -55,7 +55,7 @@ def configure_motor(brand, model, motor_idx_des, baudrate_des):
try:
motor_bus.connect()
print(f"Connected on port {motor_bus.port}")
except Exception as e:
except OSError as e:
print(f"Error occurred when connecting to the motor bus: {e}")
return

8
lerobot/scripts/find_motors_bus_port.py
View File

@@ -10,11 +10,11 @@ def find_available_ports():
def find_port():
print("Finding all available ports for the DynamixelMotorsBus.")
print("Finding all available ports for the MotorsBus.")
ports_before = find_available_ports()
print(ports_before)
print("Remove the usb cable from your DynamixelMotorsBus and press Enter when done.")
print("Remove the usb cable from your MotorsBus and press Enter when done.")
input()
time.sleep(0.5)
@@ -23,7 +23,7 @@ def find_port():
if len(ports_diff) == 1:
port = ports_diff[0]
print(f"The port of this DynamixelMotorsBus is '{port}'")
print(f"The port of this MotorsBus 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}).")
@@ -32,5 +32,5 @@ def find_port():
if __name__ == "__main__":
# Helper to find the usb port associated to all your DynamixelMotorsBus.
# Helper to find the usb port associated to all your MotorsBus.
find_port()

2
lerobot/templates/visualize_dataset_template.html
View File

@@ -241,7 +241,7 @@
if(!canPlayVideos){
this.videoCodecError = true;
}
// process CSV data
this.videos = document.querySelectorAll('video');
this.video = this.videos[0];