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Improve control robot ; Add process to configure motor indices (#326)

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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Remi
2024-08-15 18:11:33 +02:00
committed by GitHub
parent 8c4643687c
commit bbe9057225
35 changed files with 2085 additions and 476 deletions
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72
tests/test_motors.py
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@@ -1,33 +1,54 @@
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): test calibration
# TODO(rcadene): add compatibility with other motors bus
import time
import hydra
import numpy as np
import pytest
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import require_koch
from lerobot.common.utils.utils import init_hydra_config
from tests.utils import KOCH_ROBOT_CONFIG_PATH, require_koch
def make_motors_bus():
robot_cfg = init_hydra_config(KOCH_ROBOT_CONFIG_PATH)
# Instantiating a common motors structure.
# Here the one from Alexander Koch follower arm.
motors_bus = hydra.utils.instantiate(robot_cfg.leader_arms.main)
return motors_bus
@require_koch
def test_find_port(request):
from lerobot.common.robot_devices.motors.dynamixel import find_port
find_port()
@require_koch
def test_configure_motors_all_ids_1(request):
# This test expect the configuration was already correct.
motors_bus = make_motors_bus()
motors_bus.connect()
motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
motors_bus.set_bus_baudrate(9_600)
motors_bus.write("ID", [1] * len(motors_bus.motors))
del motors_bus
# Test configure
motors_bus = make_motors_bus()
motors_bus.connect()
assert motors_bus.are_motors_configured()
del motors_bus
@require_koch
def test_motors_bus(request):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): test calibration
# TODO(rcadene): add compatibility with other motors bus
from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
# Test instantiating a common motors structure.
# Here the one from Alexander Koch follower arm.
port = "/dev/tty.usbmodem575E0032081"
motors = {
# name: (index, model)
"shoulder_pan": (1, "xl430-w250"),
"shoulder_lift": (2, "xl430-w250"),
"elbow_flex": (3, "xl330-m288"),
"wrist_flex": (4, "xl330-m288"),
"wrist_roll": (5, "xl330-m288"),
"gripper": (6, "xl330-m288"),
}
motors_bus = DynamixelMotorsBus(port, motors)
motors_bus = make_motors_bus()
# Test reading and writting before connecting raises an error
with pytest.raises(RobotDeviceNotConnectedError):
@@ -41,7 +62,7 @@ def test_motors_bus(request):
del motors_bus
# Test connecting
motors_bus = DynamixelMotorsBus(port, motors)
motors_bus = make_motors_bus()
motors_bus.connect()
# Test connecting twice raises an error
@@ -52,7 +73,7 @@ def test_motors_bus(request):
motors_bus.write("Torque_Enable", 0)
values = motors_bus.read("Torque_Enable")
assert isinstance(values, np.ndarray)
assert len(values) == len(motors)
assert len(values) == len(motors_bus.motors)
assert (values == 0).all()
# Test writing torque on a specific motor
@@ -83,10 +104,3 @@ def test_motors_bus(request):
time.sleep(1)
new_values = motors_bus.read("Present_Position")
assert (new_values == values).all()
@require_koch
def test_find_port(request):
from lerobot.common.robot_devices.motors.dynamixel import find_port
find_port()