453 lines
16 KiB
Python
453 lines
16 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from copy import deepcopy
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import numpy as np
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from ..motors_bus import (
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CalibrationMode,
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JointOutOfRangeError,
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MotorsBus,
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assert_same_address,
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get_group_sync_key,
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)
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PROTOCOL_VERSION = 0
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BAUDRATE = 1_000_000
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TIMEOUT_MS = 1000
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MAX_ID_RANGE = 252
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# For joints in percentage (i.e. joints that move linearly like the prismatic joint of a gripper),
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# their nominal range is [0, 100] %. For instance, for Aloha gripper, 0% is fully
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# closed, and 100% is fully open. To account for slight calibration issue, we allow up to
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# [-10, 110] until an error is raised.
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LOWER_BOUND_LINEAR = -10
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UPPER_BOUND_LINEAR = 110
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HALF_TURN_DEGREE = 180
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# See this link for STS3215 Memory Table:
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# https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true
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# data_name: (address, size_byte)
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SCS_SERIES_CONTROL_TABLE = {
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"Model": (3, 2),
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"ID": (5, 1),
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"Baud_Rate": (6, 1),
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"Return_Delay": (7, 1),
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"Response_Status_Level": (8, 1),
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"Min_Angle_Limit": (9, 2),
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"Max_Angle_Limit": (11, 2),
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"Max_Temperature_Limit": (13, 1),
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"Max_Voltage_Limit": (14, 1),
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"Min_Voltage_Limit": (15, 1),
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"Max_Torque_Limit": (16, 2),
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"Phase": (18, 1),
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"Unloading_Condition": (19, 1),
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"LED_Alarm_Condition": (20, 1),
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"P_Coefficient": (21, 1),
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"D_Coefficient": (22, 1),
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"I_Coefficient": (23, 1),
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"Minimum_Startup_Force": (24, 2),
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"CW_Dead_Zone": (26, 1),
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"CCW_Dead_Zone": (27, 1),
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"Protection_Current": (28, 2),
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"Angular_Resolution": (30, 1),
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"Offset": (31, 2),
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"Mode": (33, 1),
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"Protective_Torque": (34, 1),
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"Protection_Time": (35, 1),
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"Overload_Torque": (36, 1),
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"Speed_closed_loop_P_proportional_coefficient": (37, 1),
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"Over_Current_Protection_Time": (38, 1),
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"Velocity_closed_loop_I_integral_coefficient": (39, 1),
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"Torque_Enable": (40, 1),
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"Acceleration": (41, 1),
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"Goal_Position": (42, 2),
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"Goal_Time": (44, 2),
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"Goal_Speed": (46, 2),
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"Torque_Limit": (48, 2),
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"Lock": (55, 1),
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"Present_Position": (56, 2),
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"Present_Speed": (58, 2),
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"Present_Load": (60, 2),
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"Present_Voltage": (62, 1),
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"Present_Temperature": (63, 1),
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"Status": (65, 1),
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"Moving": (66, 1),
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"Present_Current": (69, 2),
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# Not in the Memory Table
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"Maximum_Acceleration": (85, 2),
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}
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SCS_SERIES_BAUDRATE_TABLE = {
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0: 1_000_000,
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1: 500_000,
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2: 250_000,
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3: 128_000,
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4: 115_200,
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5: 57_600,
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6: 38_400,
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7: 19_200,
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}
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CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
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MODEL_CONTROL_TABLE = {
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"scs_series": SCS_SERIES_CONTROL_TABLE,
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"sts3215": SCS_SERIES_CONTROL_TABLE,
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}
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MODEL_RESOLUTION = {
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"scs_series": 4096,
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"sts3215": 4096,
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}
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MODEL_BAUDRATE_TABLE = {
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"scs_series": SCS_SERIES_BAUDRATE_TABLE,
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"sts3215": SCS_SERIES_BAUDRATE_TABLE,
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}
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# High number of retries is needed for feetech compared to dynamixel motors.
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NUM_READ_RETRY = 20
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NUM_WRITE_RETRY = 20
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def convert_ticks_to_degrees(ticks, model):
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resolutions = MODEL_RESOLUTION[model]
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# Convert the ticks to degrees
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return ticks * (360.0 / resolutions)
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def convert_degrees_to_ticks(degrees, model):
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resolutions = MODEL_RESOLUTION[model]
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# Convert degrees to motor ticks
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return int(degrees * (resolutions / 360.0))
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def adjusted_to_homing_ticks(raw_motor_ticks: int, model: str, motorbus, motor_id: int) -> int:
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"""
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Takes a raw reading [0..(res-1)] (e.g. 0..4095) and shifts it so that '2048'
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becomes 0 in the homed coordinate system ([-2048..+2047] for 4096 resolution).
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"""
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resolutions = MODEL_RESOLUTION[model]
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# Shift raw ticks by half-resolution so 2048 -> 0, then wrap [0..res-1].
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ticks = (raw_motor_ticks - (resolutions // 2)) % resolutions
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# If above halfway, fold it into negative territory => [-2048..+2047].
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if ticks > (resolutions // 2):
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ticks -= resolutions
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# Flip sign if drive_mode is set.
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drive_mode = 0
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if motorbus.calibration is not None:
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drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
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if drive_mode:
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ticks *= -1
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return ticks
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def adjusted_to_motor_ticks(adjusted_pos: int, model: str, motorbus, motor_id: int) -> int:
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"""
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Inverse of adjusted_to_homing_ticks(). Takes a 'homed' position in [-2048..+2047]
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and recovers the raw [0..(res-1)] ticks with 2048 as midpoint.
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"""
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# Flip sign if drive_mode was set.
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drive_mode = 0
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if motorbus.calibration is not None:
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drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
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if drive_mode:
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adjusted_pos *= -1
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resolutions = MODEL_RESOLUTION[model]
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# Shift by +half-resolution and wrap into [0..res-1].
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# This undoes the earlier shift by -half-resolution.
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ticks = (adjusted_pos + (resolutions // 2)) % resolutions
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return ticks
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def convert_to_bytes(value, n_bytes: int):
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import scservo_sdk as scs
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# Note: No need to convert back into unsigned int, since this byte preprocessing
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# already handles it for us.
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if n_bytes == 1:
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data = [
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scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),
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]
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elif n_bytes == 2:
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data = [
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scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),
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scs.SCS_HIBYTE(scs.SCS_LOWORD(value)),
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]
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elif n_bytes == 4:
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data = [
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scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),
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scs.SCS_HIBYTE(scs.SCS_LOWORD(value)),
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scs.SCS_LOBYTE(scs.SCS_HIWORD(value)),
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scs.SCS_HIBYTE(scs.SCS_HIWORD(value)),
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]
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else:
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raise NotImplementedError(
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f"Value of the number of bytes to be sent is expected to be in [1, 2, 4], but "
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f"{n_bytes} is provided instead."
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)
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return data
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class FeetechMotorsBus(MotorsBus):
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"""
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The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on the
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python feetech sdk to communicate with the motors, which is itself based on the dynamixel sdk.
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"""
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model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)
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model_resolution_table = deepcopy(MODEL_RESOLUTION)
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model_baudrate_table = deepcopy(MODEL_BAUDRATE_TABLE)
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def __init__(
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self,
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port: str,
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motors: dict[str, tuple[int, str]],
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):
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super().__init__(port, motors)
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def _set_handlers(self):
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import scservo_sdk as scs
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self.port_handler = scs.PortHandler(self.port)
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self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION)
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def _set_timeout(self, timeout: int = TIMEOUT_MS):
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self.port_handler.setPacketTimeoutMillis(timeout)
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def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
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if motor_names is None:
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motor_names = self.motor_names
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# Convert from unsigned int32 original range [0, 2**32] to signed float32 range
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values = values.astype(np.float32)
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for i, name in enumerate(motor_names):
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calib_idx = self.calibration["motor_names"].index(name)
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calib_mode = self.calibration["calib_mode"][calib_idx]
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if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
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motor_idx, model = self.motors[name]
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# Convert raw motor ticks to homed ticks, then convert the homed ticks to degrees
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values[i] = adjusted_to_homing_ticks(values[i], model, self, motor_idx)
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values[i] = convert_ticks_to_degrees(values[i], model)
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elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
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start_pos = self.calibration["start_pos"][calib_idx]
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end_pos = self.calibration["end_pos"][calib_idx]
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# Rescale the present position to a nominal range [0, 100] %,
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# useful for joints with linear motions like Aloha gripper
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values[i] = (values[i] - start_pos) / (end_pos - start_pos) * 100
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if (values[i] < LOWER_BOUND_LINEAR) or (values[i] > UPPER_BOUND_LINEAR):
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raise JointOutOfRangeError(
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f"Wrong motor position range detected for {name}. "
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f"Expected to be in nominal range of [0, 100] % (a full linear translation), "
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f"with a maximum range of [{LOWER_BOUND_LINEAR}, {UPPER_BOUND_LINEAR}] % to account for some imprecision during calibration, "
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f"but present value is {values[i]} %. "
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"This might be due to a cable connection issue creating an artificial jump in motor values. "
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"You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`"
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)
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return values
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def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
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"""Inverse of `apply_calibration`."""
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if motor_names is None:
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motor_names = self.motor_names
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for i, name in enumerate(motor_names):
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calib_idx = self.calibration["motor_names"].index(name)
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calib_mode = self.calibration["calib_mode"][calib_idx]
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if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
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motor_idx, model = self.motors[name]
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# Convert degrees to homed ticks, then convert the homed ticks to raw ticks
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values[i] = convert_degrees_to_ticks(values[i], model)
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values[i] = adjusted_to_motor_ticks(values[i], model, self, motor_idx)
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elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
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start_pos = self.calibration["start_pos"][calib_idx]
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end_pos = self.calibration["end_pos"][calib_idx]
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# Convert from nominal lnear range of [0, 100] % to
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# actual motor range of values which can be arbitrary.
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values[i] = values[i] / 100 * (end_pos - start_pos) + start_pos
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values = np.round(values).astype(np.int32)
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return values
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def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
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import scservo_sdk as scs
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return_list = True
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if not isinstance(motor_ids, list):
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return_list = False
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motor_ids = [motor_ids]
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assert_same_address(self.model_ctrl_table, self.motor_models, data_name)
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addr, bytes = self.model_ctrl_table[motor_models[0]][data_name]
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group = scs.GroupSyncRead(self.port_handler, self.packet_handler, addr, bytes)
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for idx in motor_ids:
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group.addParam(idx)
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for _ in range(num_retry):
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comm = group.txRxPacket()
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if comm == scs.COMM_SUCCESS:
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break
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if comm != scs.COMM_SUCCESS:
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raise ConnectionError(
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f"Read failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: "
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f"{self.packet_handler.getTxRxResult(comm)}"
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)
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values = []
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for idx in motor_ids:
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value = group.getData(idx, addr, bytes)
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values.append(value)
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if return_list:
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return values
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else:
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return values[0]
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def _read(self, data_name: str, motor_names: list[str]):
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import scservo_sdk as scs
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motor_ids = []
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models = []
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for name in motor_names:
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motor_idx, model = self.motors[name]
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motor_ids.append(motor_idx)
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models.append(model)
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assert_same_address(self.model_ctrl_table, models, data_name)
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addr, bytes = self.model_ctrl_table[model][data_name]
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group_key = get_group_sync_key(data_name, motor_names)
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if data_name not in self.group_readers:
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# Very Important to flush the buffer!
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self.port_handler.ser.reset_output_buffer()
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self.port_handler.ser.reset_input_buffer()
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# Create new group reader
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self.group_readers[group_key] = scs.GroupSyncRead(
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self.port_handler, self.packet_handler, addr, bytes
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)
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for idx in motor_ids:
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self.group_readers[group_key].addParam(idx)
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for _ in range(NUM_READ_RETRY):
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comm = self.group_readers[group_key].txRxPacket()
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if comm == scs.COMM_SUCCESS:
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break
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if comm != scs.COMM_SUCCESS:
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raise ConnectionError(
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f"Read failed due to communication error on port {self.port} for group_key {group_key}: "
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f"{self.packet_handler.getTxRxResult(comm)}"
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)
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values = []
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for idx in motor_ids:
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value = self.group_readers[group_key].getData(idx, addr, bytes)
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values.append(value)
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values = np.array(values)
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if data_name in CALIBRATION_REQUIRED and self.calibration is not None:
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values = self.apply_calibration(values, motor_names)
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return values
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def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
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import scservo_sdk as scs
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if not isinstance(motor_ids, list):
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motor_ids = [motor_ids]
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if not isinstance(values, list):
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values = [values]
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assert_same_address(self.model_ctrl_table, motor_models, data_name)
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addr, bytes = self.model_ctrl_table[motor_models[0]][data_name]
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group = scs.GroupSyncWrite(self.port_handler, self.packet_handler, addr, bytes)
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for idx, value in zip(motor_ids, values, strict=True):
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data = convert_to_bytes(value, bytes)
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group.addParam(idx, data)
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for _ in range(num_retry):
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comm = group.txPacket()
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if comm == scs.COMM_SUCCESS:
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break
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if comm != scs.COMM_SUCCESS:
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raise ConnectionError(
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f"Write failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: "
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f"{self.packet_handler.getTxRxResult(comm)}"
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)
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def _write(self, data_name: str, values: list[int], motor_names: list[str]) -> None:
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import scservo_sdk as scs
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motor_ids = []
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models = []
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for name in motor_names:
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motor_idx, model = self.motors[name]
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motor_ids.append(motor_idx)
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models.append(model)
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if data_name in CALIBRATION_REQUIRED and self.calibration is not None:
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values = self.revert_calibration(values, motor_names)
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assert_same_address(self.model_ctrl_table, models, data_name)
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addr, bytes = self.model_ctrl_table[model][data_name]
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group_key = get_group_sync_key(data_name, motor_names)
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init_group = data_name not in self.group_readers
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if init_group:
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self.group_writers[group_key] = scs.GroupSyncWrite(
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self.port_handler, self.packet_handler, addr, bytes
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)
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for idx, value in zip(motor_ids, values, strict=True):
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data = convert_to_bytes(value, bytes)
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if init_group:
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self.group_writers[group_key].addParam(idx, data)
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else:
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self.group_writers[group_key].changeParam(idx, data)
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comm = self.group_writers[group_key].txPacket()
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if comm != scs.COMM_SUCCESS:
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raise ConnectionError(
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f"Write failed due to communication error on port {self.port} for group_key {group_key}: "
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f"{self.packet_handler.getTxRxResult(comm)}"
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)
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