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This commit is contained in:
Remi Cadene
2024-07-11 20:03:56 +02:00
parent 3918e118c3
commit e615176845
3 changed files with 14 additions and 8 deletions
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13
lerobot/common/robot_devices/motors/dynamixel.py
View File

@@ -1,5 +1,7 @@
import enum import enum
import sys
import time import time
import traceback
from copy import deepcopy from copy import deepcopy
from pathlib import Path from pathlib import Path
@@ -278,8 +280,15 @@ class DynamixelMotorsBus:
self.port_handler = PortHandler(self.port) self.port_handler = PortHandler(self.port)
self.packet_handler = PacketHandler(PROTOCOL_VERSION) self.packet_handler = PacketHandler(PROTOCOL_VERSION)
if not self.port_handler.openPort(): try:
raise OSError(f"Failed to open port {self.port}") if not self.port_handler.openPort():
raise OSError(f"Failed to open port '{self.port}'.")
except Exception:
traceback.print_exc()
print(
"\nTry running `python lerobot/common/robot_devices/motors/dynamixel.py` to make sure you use the correct port."
)
sys.exit(1)
self.port_handler.setBaudRate(BAUD_RATE) self.port_handler.setBaudRate(BAUD_RATE)
self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS) self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS)

1
lerobot/common/robot_devices/robots/koch.py
View File

@@ -420,6 +420,7 @@ class KochRobot:
if not record_data: if not record_data:
return return
# TODO(rcadene): Add velocity and other info
# Read follower position # Read follower position
follower_pos = {} follower_pos = {}
for name in self.follower_arms: for name in self.follower_arms:

8
lerobot/scripts/control_robot.py
View File

@@ -127,7 +127,7 @@ def log_control_info(robot, dt_s, episode_index=None, frame_index=None):
def log_dt(shortname, dt_val_s): def log_dt(shortname, dt_val_s):
nonlocal log_items nonlocal log_items
log_items += [f"{shortname}:{dt_val_s * 1000:5.2f}={1/ dt_val_s:3.1f}hz"] log_items += [f"{shortname}:{dt_val_s * 1000:5.2f} ({1/ dt_val_s:3.1f}hz)"]
# total step time displayed in milliseconds and its frequency # total step time displayed in milliseconds and its frequency
log_dt("dt", dt_s) log_dt("dt", dt_s)
@@ -149,11 +149,7 @@ def log_control_info(robot, dt_s, episode_index=None, frame_index=None):
for name in robot.cameras: for name in robot.cameras:
key = f"read_camera_{name}_dt_s" key = f"read_camera_{name}_dt_s"
if key in robot.logs: if key in robot.logs:
log_dt("dtRcam", robot.logs[key]) log_dt(f"dtR{name}", robot.logs[key])
key = f"async_read_camera_{name}_dt_s"
if key in robot.logs:
log_dt("dtARcam", robot.logs[key])
logging.info(" ".join(log_items)) logging.info(" ".join(log_items))