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This commit is contained in:
Simon Alibert
2025-04-02 22:40:00 +02:00
parent eeb8490016
commit c0570b3003
1 changed files with 23 additions and 19 deletions
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42
lerobot/common/motors/motors_bus.py
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@@ -518,7 +518,25 @@ class MotorsBus(abc.ABC):
self.calibration = calibration_dict self.calibration = calibration_dict
def set_half_turn_homings(self, motors: NameOrID | list[NameOrID] | None = None) -> dict[NameOrID, Value]: def set_half_turn_homings(self, motors: NameOrID | list[NameOrID] | None = None) -> dict[NameOrID, Value]:
"""This assumes motors present positions are roughly in the middle of their desired range""" """
This assumes motors present positions are roughly in the middle of their desired range
Step 1: Set homing and min max to 0
Step 2: Read Present_Position which will be Actual_Position since
Present_Position = Actual_Position ± Homing_Offset (1)
and Homing_Offset = 0 from step 1
Step 3: We want to set the Homing_Offset such that the current Present_Position to be half range of 1
revolution. For instance, if 1 revolution corresponds to 4095 (4096 steps), this means we want the
current Present_Position to be 2047.
In that example:
Present_Position = 2047 (2)
Actual_Position = X (read in step 2)
from (1) and (2):
=> Homing_Offset = ±(X - 2048)
"""
if motors is None: if motors is None:
motors = self.names motors = self.names
elif isinstance(motors, (str, int)): elif isinstance(motors, (str, int)):
@@ -526,28 +544,18 @@ class MotorsBus(abc.ABC):
else: else:
raise TypeError(motors) raise TypeError(motors)
# Step 1: Set homing and min max to 0
self.reset_calibration(motors) self.reset_calibration(motors)
# Step 2: Read Present_Position which will be Actual_Position since
# Present_Position = Actual_Position ± Homing_Offset (1)
# and Homing_Offset = 0 from step 1
actual_positions = self.sync_read("Present_Position", motors, normalize=False) actual_positions = self.sync_read("Present_Position", motors, normalize=False)
# Step 3: We want to set the Homing_Offset such that the current Present_Position to be half range of
# 1 revolution.
# For instance, if 1 revolution corresponds to 4095 (4096 steps), this means we want the current
# Present_Position to be 2047. In that example:
# Present_Position = 2047 (2)
# Actual_Position = X (read in step 2)
# from (1) and (2):
# => Homing_Offset = ±(X - 2048)
homing_offsets = self._get_half_turn_homings(actual_positions) homing_offsets = self._get_half_turn_homings(actual_positions)
for motor, offset in homing_offsets.items(): for motor, offset in homing_offsets.items():
self.write("Homing_Offset", motor, offset) self.write("Homing_Offset", motor, offset)
return homing_offsets return homing_offsets
@abc.abstractmethod
def _get_half_turn_homings(self, positions: dict[NameOrID, Value]) -> dict[NameOrID, Value]:
pass
def record_ranges_of_motion( def record_ranges_of_motion(
self, motors: NameOrID | list[NameOrID] | None = None, display_values: bool = True self, motors: NameOrID | list[NameOrID] | None = None, display_values: bool = True
) -> tuple[dict[NameOrID, Value], dict[NameOrID, Value]]: ) -> tuple[dict[NameOrID, Value], dict[NameOrID, Value]]:
@@ -586,10 +594,6 @@ class MotorsBus(abc.ABC):
return mins, maxes return mins, maxes
@abc.abstractmethod
def _get_half_turn_homings(self, positions: dict[NameOrID, Value]) -> dict[NameOrID, Value]:
pass
def _normalize(self, data_name: str, ids_values: dict[int, int]) -> dict[int, float]: def _normalize(self, data_name: str, ids_values: dict[int, int]) -> dict[int, float]:
normalized_values = {} normalized_values = {}
for id_, val in ids_values.items(): for id_, val in ids_values.items():