mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-14 16:19:45 +00:00
add longer timeout
This commit is contained in:
croissant
committed by
Michel Aractingi
Michel Aractingi
parent
4744f99990
commit
09f1673cbf
@@ -28,6 +28,7 @@ import time
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from pathlib import Path
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from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
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from lerobot.configs.policies import PreTrainedConfig
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from lerobot.datasets.lerobot_dataset import LeRobotDataset
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from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
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from lerobot.datasets.utils import combine_feature_dicts
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@@ -43,9 +44,9 @@ from lerobot.utils.utils import log_say
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from lerobot.utils.visualization_utils import init_rerun
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HF_MODEL_ID = "<hf_username>/<model_repo_id>" # TODO: Replace with your trained model
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HF_EVAL_DATASET_ID = "<hf_username>/<eval_dataset_repo_id>" # TODO: Replace with your eval dataset name
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TASK_DESCRIPTION = "Your task description here" # TODO: Replace with your task, this should match!!
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HF_MODEL_ID = "lerobot-data-collection/two-folds-act" # TODO: Replace with your trained model
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HF_EVAL_DATASET_ID = "lerobot-data-collection/eval-two-folds-act-50k-9" # TODO: Replace with your eval dataset name
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TASK_DESCRIPTION = "two-folds-dataset" # TODO: Replace with your task, this should match!!
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NUM_EPISODES = 5
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FPS = 30
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@@ -64,8 +65,8 @@ LEADER_RIGHT_PORT = "can1"
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# Camera configuration
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CAMERA_CONFIG = {
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"left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=640, height=480, fps=FPS),
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"right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=FPS),
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"base": OpenCVCameraConfig(index_or_path="/dev/video4", width=640, height=480, fps=FPS),
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"right_wrist": OpenCVCameraConfig(index_or_path="/dev/video4", width=640, height=480, fps=FPS),
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"base": OpenCVCameraConfig(index_or_path="/dev/video7", width=640, height=480, fps=FPS),
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}
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def main():
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@@ -121,9 +122,6 @@ def main():
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else:
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print(f"Leader connected but gravity compensation unavailable (no URDF)")
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policy = make_policy.from_pretrained(HF_MODEL_ID)
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# Build default processors for action and observation
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teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
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@@ -171,6 +169,11 @@ def main():
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image_writer_threads=12,
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)
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# Load policy config from pretrained model and create policy using factory
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policy_config = PreTrainedConfig.from_pretrained(HF_MODEL_ID)
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policy_config.pretrained_path = HF_MODEL_ID
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policy = make_policy(policy_config, ds_meta=dataset.meta)
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preprocessor, postprocessor = make_pre_post_processors(
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policy_cfg=policy.config,
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pretrained_path=HF_MODEL_ID,
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@@ -189,7 +189,7 @@ def initialize_robots_only(config: RobotSetupConfig):
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can_interface="socketcan",
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id="openarms_follower",
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disable_torque_on_disconnect=True,
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max_relative_target=10.0,
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max_relative_target=30.0,
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cameras=camera_config,
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)
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@@ -377,7 +377,7 @@ class DamiaoMotorsBus(MotorsBusBase):
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try:
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while len(responses) < len(expected_recv_ids) and (time.time() - start_time) < timeout:
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msg = self.canbus.recv(timeout=0.0001) # 100us poll timeout
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msg = self.canbus.recv(timeout=0.0002) # 200us poll timeout (increased from 100us for better reliability)
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if msg and msg.arbitration_id in expected_set:
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responses[msg.arbitration_id] = msg
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if len(responses) == len(expected_recv_ids):
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@@ -633,7 +633,7 @@ class DamiaoMotorsBus(MotorsBusBase):
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# Step 2: Collect all responses at once (batch receive)
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expected_recv_ids = [self._get_motor_recv_id(motor) for motor in motors]
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responses = self._recv_all_responses(expected_recv_ids, timeout=0.003) # 3ms total timeout
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responses = self._recv_all_responses(expected_recv_ids, timeout=0.01) # 10ms total timeout
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# Step 3: Parse responses
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for motor in motors:
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@@ -688,16 +688,17 @@ class DamiaoMotorsBus(MotorsBusBase):
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motors = self._get_motors_list(motors)
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result = {}
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# Step 1: Send refresh commands to ALL motors first (no waiting)
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# Step 1: Send refresh commands to ALL motors first (with small delays to reduce bus congestion)
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for motor in motors:
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motor_id = self._get_motor_id(motor)
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data = [motor_id & 0xFF, (motor_id >> 8) & 0xFF, CAN_CMD_REFRESH, 0, 0, 0, 0, 0]
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msg = can.Message(arbitration_id=CAN_PARAM_ID, data=data, is_extended_id=False)
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self.canbus.send(msg)
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time.sleep(0.0001) # 100us delay between commands to reduce bus congestion
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# Step 2: Collect all responses at once (batch receive)
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expected_recv_ids = [self._get_motor_recv_id(motor) for motor in motors]
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responses = self._recv_all_responses(expected_recv_ids, timeout=0.003) # 3ms total timeout
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responses = self._recv_all_responses(expected_recv_ids, timeout=0.015) # 15ms timeout (increased for reliability)
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# Step 3: Parse responses and extract ALL state values
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for motor in motors:
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@@ -774,10 +775,11 @@ class DamiaoMotorsBus(MotorsBusBase):
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msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
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self.canbus.send(msg)
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time.sleep(0.0001) # 100us delay between commands to reduce bus congestion
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# Step 2: Collect all responses at once
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expected_recv_ids = [self._get_motor_recv_id(motor) for motor in values.keys()]
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self._recv_all_responses(expected_recv_ids, timeout=0.002) # 2ms timeout
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self._recv_all_responses(expected_recv_ids, timeout=0.015) # 15ms timeout (increased for reliability)
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else:
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# Fall back to individual writes for other data types
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for motor, value in values.items():
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@@ -1,833 +0,0 @@
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## This is a derivative of the following software.
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## https://github.com/cmjang/DM_Control_Python/blob/main/DM_CAN.py
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import can
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from time import sleep, time
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import numpy as np
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from enum import IntEnum
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from struct import unpack
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from struct import pack
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class Motor:
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def __init__(self, MotorType, SlaveID, MasterID):
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"""
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define Motor object 定义电机对象
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:param MotorType: Motor type 电机类型
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:param SlaveID: CANID 电机ID
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:param MasterID: MasterID 主机ID 建议不要设为0
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"""
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self.Pd = float(0)
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self.Vd = float(0)
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self.goal_position = float(0)
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self.goal_tau = float(0)
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self.state_q = float(0)
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self.state_dq = float(0)
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self.state_tau = float(0)
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self.state_tmos = int(0)
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self.state_trotor = int(0)
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self.SlaveID = SlaveID
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self.MasterID = MasterID
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self.MotorType = MotorType
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self.isEnable = False
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self.NowControlMode = Control_Type.MIT
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self.temp_param_dict = {}
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def recv_data(self, q: float, dq: float, tau: float, tmos: int, trotor: int):
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self.state_q = q
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self.state_dq = dq
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self.state_tau = tau
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self.state_tmos = tmos
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self.state_trotor = trotor
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def getPosition(self):
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"""
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get the position of the motor 获取电机位置
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:return: the position of the motor 电机位置
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"""
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return self.state_q
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def getVelocity(self):
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"""
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get the velocity of the motor 获取电机速度
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:return: the velocity of the motor 电机速度
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"""
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return self.state_dq
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def getTorque(self):
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"""
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get the torque of the motor 获取电机力矩
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:return: the torque of the motor 电机力矩
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"""
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return self.state_tau
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def getParam(self, RID):
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"""
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get the parameter of the motor 获取电机内部的参数，需要提前读取
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:param RID: DM_variable 电机参数
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:return: the parameter of the motor 电机参数
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"""
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if RID in self.temp_param_dict:
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return self.temp_param_dict[RID]
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else:
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return None
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class MotorControl:
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#send_data_frame = np.array(
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# [0x55, 0xAA, 0x1e, 0x03, 0x01, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0, 0, 0, 0, 0x00, 0x08, 0x00,
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# 0x00, 0, 0, 0, 0, 0, 0, 0, 0, 0x00], np.uint8)
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# 4310 4310_48 4340 4340_48
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Limit_Param = [[12.5, 30, 10], [12.5, 50, 10], [12.5, 8, 28], [12.5, 10, 28],
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# 6006 8006 8009 10010L 10010
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[12.5, 45, 20], [12.5, 45, 40], [12.5, 45, 54], [12.5, 25, 200], [12.5, 20, 200],
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# H3510 DMG62150 DMH6220
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[12.5 , 280 , 1],[12.5 , 45 , 10],[12.5 , 45 , 10]]
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def __init__(self, channel: str, bitrate: int = 1000000):
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"""
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define MotorControl object 定义电机控制对象
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:param serial_device: serial object 串口对象
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"""
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#self.serial_ = serial_device
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self.motors_map = dict()
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self.data_save = bytes() # save data
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#if self.serial_.is_open: # open the serial port
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# print("Serial port is open")
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# serial_device.close()
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#self.serial_.open()
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self.canbus = can.interface.Bus(channel=channel, interface='socketcan', bitrate=bitrate)
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#print("can is open")
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def controlMIT(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float):
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"""
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MIT Control Mode Function 达妙电机MIT控制模式函数
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:param DM_Motor: Motor object 电机对象
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:param kp: kp
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:param kd: kd
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:param q: position 期望位置
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:param dq: velocity 期望速度
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:param tau: torque 期望力矩
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:return: None
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"""
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if DM_Motor.SlaveID not in self.motors_map:
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print("controlMIT ERROR : Motor ID not found")
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return
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kp_uint = float_to_uint(kp, 0, 500, 12)
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kd_uint = float_to_uint(kd, 0, 5, 12)
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MotorType = DM_Motor.MotorType
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Q_MAX = self.Limit_Param[MotorType][0]
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DQ_MAX = self.Limit_Param[MotorType][1]
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TAU_MAX = self.Limit_Param[MotorType][2]
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q_uint = float_to_uint(q, -Q_MAX, Q_MAX, 16)
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dq_uint = float_to_uint(dq, -DQ_MAX, DQ_MAX, 12)
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tau_uint = float_to_uint(tau, -TAU_MAX, TAU_MAX, 12)
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data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
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data_buf[0] = (q_uint >> 8) & 0xff
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data_buf[1] = q_uint & 0xff
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data_buf[2] = dq_uint >> 4
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data_buf[3] = ((dq_uint & 0xf) << 4) | ((kp_uint >> 8) & 0xf)
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data_buf[4] = kp_uint & 0xff
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data_buf[5] = kd_uint >> 4
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data_buf[6] = ((kd_uint & 0xf) << 4) | ((tau_uint >> 8) & 0xf)
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data_buf[7] = tau_uint & 0xff
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self.__send_data(DM_Motor.SlaveID, data_buf)
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self.recv() # receive the data from serial port
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def control_delay(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float, delay: float):
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"""
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MIT Control Mode Function with delay 达妙电机MIT控制模式函数带延迟
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:param DM_Motor: Motor object 电机对象
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:param kp: kp
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:param kd: kd
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:param q: position 期望位置
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:param dq: velocity 期望速度
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:param tau: torque 期望力矩
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:param delay: delay time 延迟时间 单位秒
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"""
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self.controlMIT(DM_Motor, kp, kd, q, dq, tau)
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sleep(delay)
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def control_Pos_Vel(self, Motor, P_desired: float, V_desired: float):
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"""
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control the motor in position and velocity control mode 电机位置速度控制模式
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:param Motor: Motor object 电机对象
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:param P_desired: desired position 期望位置
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:param V_desired: desired velocity 期望速度
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:return: None
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"""
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if Motor.SlaveID not in self.motors_map:
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print("Control Pos_Vel Error : Motor ID not found")
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return
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motorid = 0x100 + Motor.SlaveID
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data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
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P_desired_uint8s = float_to_uint8s(P_desired)
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V_desired_uint8s = float_to_uint8s(V_desired)
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data_buf[0:4] = P_desired_uint8s
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data_buf[4:8] = V_desired_uint8s
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self.__send_data(motorid, data_buf)
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self.recv() # receive the data from serial port
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def control_Vel(self, Motor, Vel_desired):
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"""
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control the motor in velocity control mode 电机速度控制模式
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:param Motor: Motor object 电机对象
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:param Vel_desired: desired velocity 期望速度
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"""
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if Motor.SlaveID not in self.motors_map:
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print("control_VEL ERROR : Motor ID not found")
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return
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motorid = 0x200 + Motor.SlaveID
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data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
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Vel_desired_uint8s = float_to_uint8s(Vel_desired)
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data_buf[0:4] = Vel_desired_uint8s
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self.__send_data(motorid, data_buf)
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self.recv() # receive the data from serial port
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def control_pos_force(self, Motor, Pos_des: float, Vel_des, i_des):
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"""
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control the motor in EMIT control mode 电机力位混合模式
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:param Pos_des: desired position rad 期望位置 单位为rad
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:param Vel_des: desired velocity rad/s 期望速度 为放大100倍
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:param i_des: desired current rang 0-10000 期望电流标幺值放大10000倍
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电流标幺值：实际电流值除以最大电流值，最大电流见上电打印
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"""
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if Motor.SlaveID not in self.motors_map:
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print("control_pos_vel ERROR : Motor ID not found")
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return
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motorid = 0x300 + Motor.SlaveID
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data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
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Pos_desired_uint8s = float_to_uint8s(Pos_des)
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data_buf[0:4] = Pos_desired_uint8s
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Vel_uint = np.uint16(Vel_des)
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ides_uint = np.uint16(i_des)
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data_buf[4] = Vel_uint & 0xff
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data_buf[5] = Vel_uint >> 8
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data_buf[6] = ides_uint & 0xff
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data_buf[7] = ides_uint >> 8
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self.__send_data(motorid, data_buf)
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self.recv() # receive the data from serial port
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def enable(self, Motor):
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"""
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enable motor 使能电机
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最好在上电后几秒后再使能电机
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:param Motor: Motor object 电机对象
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"""
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self.__control_cmd(Motor, np.uint8(0xFC))
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sleep(0.1)
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self.recv() # receive the data from serial port
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def enable_old(self, Motor ,ControlMode):
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"""
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enable motor old firmware 使能电机旧版本固件，这个是为了旧版本电机固件的兼容性
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可恶的旧版本固件使能需要加上偏移量
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最好在上电后几秒后再使能电机
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:param Motor: Motor object 电机对象
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"""
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data_buf = np.array([0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc], np.uint8)
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enable_id = ((int(ControlMode)-1) << 2) + Motor.SlaveID
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self.__send_data(enable_id, data_buf)
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sleep(0.1)
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self.recv() # receive the data from serial port
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def disable(self, Motor):
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"""
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disable motor 失能电机
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:param Motor: Motor object 电机对象
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"""
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self.__control_cmd(Motor, np.uint8(0xFD))
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sleep(0.1)
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self.recv() # receive the data from serial port
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def set_zero_position(self, Motor):
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"""
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set the zero position of the motor 设置电机0位
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:param Motor: Motor object 电机对象
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"""
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self.__control_cmd(Motor, np.uint8(0xFE))
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sleep(0.1)
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self.recv() # receive the data from serial port
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def recv(self):
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# 把上次没有解析完的剩下的也放进来
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# data_recv = b''.join([self.data_save, self.serial_.read_all()])
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#data_recv = b''.join([self.data_save, self.canbus.recv()])
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# packets = self.__extract_packets(data_recv)
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# for packet in packets:
|
||||
# data = packet[7:15]
|
||||
# CANID = (packet[6] << 24) | (packet[5] << 16) | (packet[4] << 8) | packet[3]
|
||||
# CMD = packet[1]
|
||||
# self.__process_packet(data, CANID, CMD)
|
||||
|
||||
data_recv = self.canbus.recv(0.1)
|
||||
|
||||
if data_recv is not None:
|
||||
# data = data_recv.data
|
||||
# err = data[0] >> 12
|
||||
# id = data[0] & 0x7f
|
||||
# pos = (data[1] << 8) + data[2]
|
||||
# vel = (data[3] << 4) + (data[4] >> 4)
|
||||
# tau = ((data[4] & 0x0f) << 8) + data[5]
|
||||
# t_mos = data[6]
|
||||
# t_rotor = data[7]
|
||||
# print(hex(id), err, id, pos, vel, tau, goal_tau, t_mos, t_rotor)
|
||||
# CANID = data_recv.arbitration_id
|
||||
CANID = data_recv.data[0]
|
||||
# CMD = data_recv.data[3]
|
||||
CMD = 0x11 # 飯田：修正の必要あり
|
||||
self.__process_packet(data_recv.data, CANID, CMD)
|
||||
|
||||
# 飯田：Debug print
|
||||
# print(hex(CANID),hex(CMD))
|
||||
# print(hex(data_recv.data[0]),hex(data_recv.data[1]),hex(data_recv.data[2]),hex(data_recv.data[3]),hex(data_recv.data[4]),hex(data_recv.data[5]),hex(data_recv.data[6]),hex(data_recv.data[7]))
|
||||
#return data
|
||||
|
||||
def recv_set_param_data(self):
|
||||
#data_recv = self.serial_.read_all()
|
||||
|
||||
# packets = self.__extract_packets(data_recv)
|
||||
# for packet in packets:
|
||||
# data = packet[7:15]
|
||||
# CANID = (packet[6] << 24) | (packet[5] << 16) | (packet[4] << 8) | packet[3]
|
||||
# CMD = packet[1]
|
||||
# self.__process_set_param_packet(data, CANID, CMD)
|
||||
|
||||
data_recv = self.canbus.recv(0.1)
|
||||
|
||||
|
||||
if data_recv is not None:
|
||||
data = data_recv.data
|
||||
CANID = data_recv.arbitration_id
|
||||
# CANID = data_recv.data[0]
|
||||
# CMD = data_recv.data[3]
|
||||
CMD = 0x11 # 飯田：修正の必要あり
|
||||
self.__process_packet(data, CANID, CMD)
|
||||
|
||||
|
||||
# 飯田：Debug print
|
||||
print(hex(CANID),hex(CMD))
|
||||
print(hex(data_recv.data[0]),hex(data_recv.data[1]),hex(data_recv.data[2]),hex(data_recv.data[3]),hex(data_recv.data[4]),hex(data_recv.data[5]),hex(data_recv.data[6]),hex(data_recv.data[7]))
|
||||
|
||||
def __process_packet(self, data, CANID, CMD):
|
||||
if CMD == 0x11:
|
||||
if CANID != 0x00:
|
||||
if CANID in self.motors_map:
|
||||
q_uint = np.uint16((np.uint16(data[1]) << 8) | data[2])
|
||||
dq_uint = np.uint16((np.uint16(data[3]) << 4) | (data[4] >> 4))
|
||||
tau_uint = np.uint16(((data[4] & 0xf) << 8) | data[5])
|
||||
t_mos = data[6]
|
||||
t_rotor = data[7]
|
||||
MotorType_recv = self.motors_map[CANID].MotorType
|
||||
Q_MAX = self.Limit_Param[MotorType_recv][0]
|
||||
DQ_MAX = self.Limit_Param[MotorType_recv][1]
|
||||
TAU_MAX = self.Limit_Param[MotorType_recv][2]
|
||||
recv_q = uint_to_float(q_uint, -Q_MAX, Q_MAX, 16)
|
||||
recv_dq = uint_to_float(dq_uint, -DQ_MAX, DQ_MAX, 12)
|
||||
recv_tau = uint_to_float(tau_uint, -TAU_MAX, TAU_MAX, 12)
|
||||
self.motors_map[CANID].recv_data(recv_q, recv_dq, recv_tau, t_mos, t_rotor)
|
||||
else:
|
||||
MasterID=data[0] & 0x0f
|
||||
if MasterID in self.motors_map:
|
||||
q_uint = np.uint16((np.uint16(data[1]) << 8) | data[2])
|
||||
dq_uint = np.uint16((np.uint16(data[3]) << 4) | (data[4] >> 4))
|
||||
tau_uint = np.uint16(((data[4] & 0xf) << 8) | data[5])
|
||||
t_mos = data[6]
|
||||
t_rotor = data[7]
|
||||
MotorType_recv = self.motors_map[MasterID].MotorType
|
||||
Q_MAX = self.Limit_Param[MotorType_recv][0]
|
||||
DQ_MAX = self.Limit_Param[MotorType_recv][1]
|
||||
TAU_MAX = self.Limit_Param[MotorType_recv][2]
|
||||
recv_q = uint_to_float(q_uint, -Q_MAX, Q_MAX, 16)
|
||||
recv_dq = uint_to_float(dq_uint, -DQ_MAX, DQ_MAX, 12)
|
||||
recv_tau = uint_to_float(tau_uint, -TAU_MAX, TAU_MAX, 12)
|
||||
self.motors_map[MasterID].recv_data(recv_q, recv_dq, recv_tau, t_mos, t_rotor)
|
||||
|
||||
|
||||
def __process_set_param_packet(self, data, CANID, CMD):
|
||||
if CMD == 0x11 and (data[2] == 0x33 or data[2] == 0x55):
|
||||
masterid=CANID
|
||||
slaveId = ((data[1] << 8) | data[0])
|
||||
if CANID==0x00: #防止有人把MasterID设为0稳一手
|
||||
masterid=slaveId
|
||||
|
||||
if masterid not in self.motors_map:
|
||||
if slaveId not in self.motors_map:
|
||||
return
|
||||
else:
|
||||
masterid=slaveId
|
||||
|
||||
RID = data[3]
|
||||
# 读取参数得到的数据
|
||||
if is_in_ranges(RID):
|
||||
#uint32类型
|
||||
num = uint8s_to_uint32(data[4], data[5], data[6], data[7])
|
||||
self.motors_map[masterid].temp_param_dict[RID] = num
|
||||
|
||||
else:
|
||||
#float类型
|
||||
num = uint8s_to_float(data[4], data[5], data[6], data[7])
|
||||
self.motors_map[masterid].temp_param_dict[RID] = num
|
||||
|
||||
|
||||
def addMotor(self, Motor):
|
||||
"""
|
||||
add motor to the motor control object 添加电机到电机控制对象
|
||||
:param Motor: Motor object 电机对象
|
||||
"""
|
||||
self.motors_map[Motor.SlaveID] = Motor
|
||||
if Motor.MasterID != 0:
|
||||
self.motors_map[Motor.MasterID] = Motor
|
||||
return True
|
||||
|
||||
def __control_cmd(self, Motor, cmd: np.uint8): # 飯田：コマンドは通ります
|
||||
data_buf = np.array([0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, cmd], np.uint8)
|
||||
self.__send_data(Motor.SlaveID, data_buf)
|
||||
|
||||
def __send_data(self, motor_id, data):
|
||||
"""
|
||||
send data to the motor 发送数据到电机
|
||||
:param motor_id:
|
||||
:param data:
|
||||
:return:
|
||||
"""
|
||||
#self.send_data_frame[13] = motor_id & 0xff
|
||||
#self.send_data_frame[14] = (motor_id >> 8)& 0xff #id high 8 bits
|
||||
#self.send_data_frame[21:29] = data
|
||||
#self.serial_.write(bytes(self.send_data_frame.T))
|
||||
|
||||
msg =can.Message(is_extended_id=False,arbitration_id=motor_id,data=data,is_remote_frame = False)
|
||||
self.canbus.send(msg)
|
||||
|
||||
def __read_RID_param(self, Motor, RID): # 飯田：修正の必要あり?
|
||||
can_id_l = Motor.SlaveID & 0xff #id low 8 bits
|
||||
can_id_h = (Motor.SlaveID >> 8)& 0xff #id high 8 bits
|
||||
data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0x33, np.uint8(RID), 0x00, 0x00, 0x00, 0x00], np.uint8)
|
||||
self.__send_data(0x7FF, data_buf)
|
||||
|
||||
|
||||
|
||||
def __write_motor_param(self, Motor, RID, data): # 飯田：修正の必要あり?
|
||||
can_id_l = Motor.SlaveID & 0xff #id low 8 bits
|
||||
can_id_h = (Motor.SlaveID >> 8)& 0xff #id high 8 bits
|
||||
data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0x55, np.uint8(RID), 0x00, 0x00, 0x00, 0x00], np.uint8)
|
||||
if not is_in_ranges(RID):
|
||||
# data is float
|
||||
data_buf[4:8] = float_to_uint8s(data)
|
||||
else:
|
||||
# data is int
|
||||
data_buf[4:8] = data_to_uint8s(int(data))
|
||||
self.__send_data(0x7FF, data_buf)
|
||||
|
||||
def switchControlMode(self, Motor, ControlMode):
|
||||
"""
|
||||
switch the control mode of the motor 切换电机控制模式
|
||||
:param Motor: Motor object 电机对象
|
||||
:param ControlMode: Control_Type 电机控制模式 example:MIT:Control_Type.MIT MIT模式
|
||||
"""
|
||||
max_retries = 20
|
||||
retry_interval = 0.1 #retry times
|
||||
RID = 10
|
||||
self.__write_motor_param(Motor, RID, np.uint8(ControlMode))
|
||||
for _ in range(max_retries):
|
||||
sleep(retry_interval)
|
||||
self.recv_set_param_data()
|
||||
if Motor.SlaveID in self.motors_map:
|
||||
if RID in self.motors_map[Motor.SlaveID].temp_param_dict:
|
||||
if abs(self.motors_map[Motor.SlaveID].temp_param_dict[RID] - ControlMode) < 0.1:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
return False
|
||||
|
||||
def save_motor_param(self, Motor):
|
||||
"""
|
||||
save the all parameter to flash 保存所有电机参数
|
||||
:param Motor: Motor object 电机对象
|
||||
:return:
|
||||
"""
|
||||
can_id_l = Motor.SlaveID & 0xff #id low 8 bits
|
||||
can_id_h = (Motor.SlaveID >> 8)& 0xff #id high 8 bits
|
||||
data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0xAA, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
|
||||
self.disable(Motor) # before save disable the motor
|
||||
self.__send_data(0x7FF, data_buf)
|
||||
sleep(0.001)
|
||||
|
||||
def change_limit_param(self, Motor_Type, PMAX, VMAX, TMAX):
|
||||
"""
|
||||
change the PMAX VMAX TMAX of the motor 改变电机的PMAX VMAX TMAX
|
||||
:param Motor_Type:
|
||||
:param PMAX: 电机的PMAX
|
||||
:param VMAX: 电机的VMAX
|
||||
:param TMAX: 电机的TMAX
|
||||
:return:
|
||||
"""
|
||||
self.Limit_Param[Motor_Type][0] = PMAX
|
||||
self.Limit_Param[Motor_Type][1] = VMAX
|
||||
self.Limit_Param[Motor_Type][2] = TMAX
|
||||
|
||||
def refresh_motor_status(self,Motor):
|
||||
"""
|
||||
get the motor status 获得电机状态
|
||||
"""
|
||||
can_id_l = Motor.SlaveID & 0xff #id low 8 bits
|
||||
can_id_h = (Motor.SlaveID >> 8) & 0xff #id high 8 bits
|
||||
data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0xCC, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
|
||||
self.__send_data(0x7FF, data_buf)
|
||||
self.recv() # receive the data from serial port
|
||||
|
||||
def change_motor_param(self, Motor, RID, data):
|
||||
"""
|
||||
change the RID of the motor 改变电机的参数
|
||||
:param Motor: Motor object 电机对象
|
||||
:param RID: DM_variable 电机参数
|
||||
:param data: 电机参数的值
|
||||
:return: True or False ,True means success, False means fail
|
||||
"""
|
||||
max_retries = 20
|
||||
retry_interval = 0.05 #retry times
|
||||
|
||||
self.__write_motor_param(Motor, RID, data)
|
||||
for _ in range(max_retries):
|
||||
self.recv_set_param_data()
|
||||
if Motor.SlaveID in self.motors_map and RID in self.motors_map[Motor.SlaveID].temp_param_dict:
|
||||
if abs(self.motors_map[Motor.SlaveID].temp_param_dict[RID] - data) < 0.1:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
sleep(retry_interval)
|
||||
return False
|
||||
|
||||
def read_motor_param(self, Motor, RID):
|
||||
"""
|
||||
read only the RID of the motor 读取电机的内部信息例如 版本号等
|
||||
:param Motor: Motor object 电机对象
|
||||
:param RID: DM_variable 电机参数
|
||||
:return: 电机参数的值
|
||||
"""
|
||||
max_retries = 5
|
||||
retry_interval = 0.05 #retry times
|
||||
self.__read_RID_param(Motor, RID)
|
||||
for _ in range(max_retries):
|
||||
sleep(retry_interval)
|
||||
self.recv_set_param_data()
|
||||
if Motor.SlaveID in self.motors_map:
|
||||
if RID in self.motors_map[Motor.SlaveID].temp_param_dict:
|
||||
return self.motors_map[Motor.SlaveID].temp_param_dict[RID]
|
||||
return None
|
||||
|
||||
# -------------------------------------------------
|
||||
# Extract packets from the serial data
|
||||
def __extract_packets(self, data):
|
||||
frames = []
|
||||
header = 0xAA
|
||||
tail = 0x55
|
||||
frame_length = 16
|
||||
i = 0
|
||||
remainder_pos = 0
|
||||
|
||||
while i <= len(data) - frame_length:
|
||||
if data[i] == header and data[i + frame_length - 1] == tail:
|
||||
frame = data[i:i + frame_length]
|
||||
frames.append(frame)
|
||||
i += frame_length
|
||||
remainder_pos = i
|
||||
else:
|
||||
i += 1
|
||||
self.data_save = data[remainder_pos:]
|
||||
return frames
|
||||
|
||||
|
||||
def LIMIT_MIN_MAX(x, min, max):
|
||||
if x <= min:
|
||||
x = min
|
||||
elif x > max:
|
||||
x = max
|
||||
|
||||
|
||||
def float_to_uint(x: float, x_min: float, x_max: float, bits):
|
||||
LIMIT_MIN_MAX(x, x_min, x_max)
|
||||
span = x_max - x_min
|
||||
data_norm = (x - x_min) / span
|
||||
return np.uint16(data_norm * ((1 << bits) - 1))
|
||||
|
||||
|
||||
def uint_to_float(x: np.uint16, min: float, max: float, bits):
|
||||
span = max - min
|
||||
data_norm = float(x) / ((1 << bits) - 1)
|
||||
temp = data_norm * span + min
|
||||
return np.float32(temp)
|
||||
|
||||
|
||||
def float_to_uint8s(value):
|
||||
# Pack the float into 4 bytes
|
||||
packed = pack('f', value)
|
||||
# Unpack the bytes into four uint8 values
|
||||
return unpack('4B', packed)
|
||||
|
||||
|
||||
def data_to_uint8s(value):
|
||||
# Check if the value is within the range of uint32
|
||||
if isinstance(value, int) and (0 <= value <= 0xFFFFFFFF):
|
||||
# Pack the uint32 into 4 bytes
|
||||
packed = pack('I', value)
|
||||
else:
|
||||
raise ValueError("Value must be an integer within the range of uint32")
|
||||
|
||||
# Unpack the bytes into four uint8 values
|
||||
return unpack('4B', packed)
|
||||
|
||||
|
||||
def is_in_ranges(number):
|
||||
"""
|
||||
check if the number is in the range of uint32
|
||||
:param number:
|
||||
:return:
|
||||
"""
|
||||
if (7 <= number <= 10) or (13 <= number <= 16) or (35 <= number <= 36):
|
||||
return True
|
||||
return False
|
||||
|
||||
|
||||
def uint8s_to_uint32(byte1, byte2, byte3, byte4):
|
||||
# Pack the four uint8 values into a single uint32 value in little-endian order
|
||||
packed = pack('<4B', byte1, byte2, byte3, byte4)
|
||||
# Unpack the packed bytes into a uint32 value
|
||||
return unpack('<I', packed)[0]
|
||||
|
||||
|
||||
def uint8s_to_float(byte1, byte2, byte3, byte4):
|
||||
# Pack the four uint8 values into a single float value in little-endian order
|
||||
packed = pack('<4B', byte1, byte2, byte3, byte4)
|
||||
# Unpack the packed bytes into a float value
|
||||
return unpack('<f', packed)[0]
|
||||
|
||||
|
||||
def print_hex(data):
|
||||
hex_values = [f'{byte:02X}' for byte in data]
|
||||
print(' '.join(hex_values))
|
||||
|
||||
|
||||
def get_enum_by_index(index, enum_class):
|
||||
try:
|
||||
return enum_class(index)
|
||||
except ValueError:
|
||||
return None
|
||||
|
||||
|
||||
class DM_Motor_Type(IntEnum):
|
||||
DM4310 = 0
|
||||
DM4310_48V = 1
|
||||
DM4340 = 2
|
||||
DM4340_48V = 3
|
||||
DM6006 = 4
|
||||
DM8006 = 5
|
||||
DM8009 = 6
|
||||
DM10010L = 7
|
||||
DM10010 = 8
|
||||
DMH3510 = 9
|
||||
DMH6215 = 10
|
||||
DMG6220 = 11
|
||||
|
||||
|
||||
class DM_variable(IntEnum):
|
||||
UV_Value = 0
|
||||
KT_Value = 1
|
||||
OT_Value = 2
|
||||
OC_Value = 3
|
||||
ACC = 4
|
||||
DEC = 5
|
||||
MAX_SPD = 6
|
||||
MST_ID = 7
|
||||
ESC_ID = 8
|
||||
TIMEOUT = 9
|
||||
CTRL_MODE = 10
|
||||
Damp = 11
|
||||
Inertia = 12
|
||||
hw_ver = 13
|
||||
sw_ver = 14
|
||||
SN = 15
|
||||
NPP = 16
|
||||
Rs = 17
|
||||
LS = 18
|
||||
Flux = 19
|
||||
Gr = 20
|
||||
PMAX = 21
|
||||
VMAX = 22
|
||||
TMAX = 23
|
||||
I_BW = 24
|
||||
KP_ASR = 25
|
||||
KI_ASR = 26
|
||||
KP_APR = 27
|
||||
KI_APR = 28
|
||||
OV_Value = 29
|
||||
GREF = 30
|
||||
Deta = 31
|
||||
V_BW = 32
|
||||
IQ_c1 = 33
|
||||
VL_c1 = 34
|
||||
can_br = 35
|
||||
sub_ver = 36
|
||||
u_off = 50
|
||||
v_off = 51
|
||||
k1 = 52
|
||||
k2 = 53
|
||||
m_off = 54
|
||||
dir = 55
|
||||
p_m = 80
|
||||
xout = 81
|
||||
|
||||
|
||||
class Control_Type(IntEnum):
|
||||
MIT = 1
|
||||
POS_VEL = 2
|
||||
VEL = 3
|
||||
Torque_Pos = 4
|
||||
|
||||
class DamiaoPort:
|
||||
def __init__(self, device, types, can_ids, master_ids, motor_with_torque, control_mode=Control_Type.MIT):
|
||||
self.device = device
|
||||
self.types = types
|
||||
self.can_ids = can_ids
|
||||
self.master_ids = master_ids
|
||||
self.control = MotorControl(self.device, bitrate=4000000)
|
||||
self.motors = [Motor(type, can_id, master_id) for type, can_id, master_id in zip(types, can_ids, master_ids)]
|
||||
self.stat_data = []
|
||||
self.stat_time = []
|
||||
for motor in self.motors:
|
||||
self.control.addMotor(motor)
|
||||
self.control.enable(motor)
|
||||
|
||||
def get_present_status(self):
|
||||
self.stat_time.append(time())
|
||||
stat = [[
|
||||
motor.goal_position,
|
||||
motor.goal_tau,
|
||||
motor.getPosition(),
|
||||
motor.getVelocity(),
|
||||
motor.getTorque(),
|
||||
motor.state_tmos,
|
||||
motor.state_trotor,
|
||||
] for motor in self.motors]
|
||||
self.stat_data.append(stat)
|
||||
|
||||
return stat
|
||||
|
||||
def save_status(self, filename):
|
||||
np.savez(filename, np.array(self.stat_time), np.array(self.stat_data))
|
||||
|
||||
def disable(self):
|
||||
for motor in self.motors:
|
||||
self.control.disable(motor)
|
||||
|
||||
def shutdown(self):
|
||||
for motor in self.motors:
|
||||
self.control.controlMIT(motor, 0, 0, 0, 0, 0)
|
||||
self.control.canbus.shutdown()
|
||||
|
||||
def set_zero_position(self):
|
||||
for motor in self.motors:
|
||||
self.control.disable(motor)
|
||||
sleep(1)
|
||||
for motor in self.motors:
|
||||
self.control.set_zero_position(motor)
|
||||
sleep(1)
|
||||
for motor in self.motors:
|
||||
self.control.enable(motor)
|
||||
return 0
|
||||
|
||||
async def move_towards(self, goal_positions, kps, kds):
|
||||
for motor, goal_position, kp, kd in zip(self.motors, goal_positions, kps, kds):
|
||||
delta = goal_position - motor.getPosition()
|
||||
v = motor.getVelocity()
|
||||
tau = kp * delta - kd * v
|
||||
motor.goal_position = goal_position
|
||||
motor.goal_tau = tau
|
||||
self.control.controlMIT(motor, 0, 0, 0, 0, tau)
|
||||
await asyncio.sleep(0.00003)
|
||||
|
||||
def move_regressor_sync(self, regs, search_range, search_step, goal_positions, kps, kds):
|
||||
TORQUE_SCALER=30
|
||||
if len(self.stat_data) == 0:
|
||||
return self.move_towards_sync(goal_positions, kps, kds)
|
||||
for motor, reg, goal_position, kp, kd, stat in zip(
|
||||
self.motors, regs, goal_positions, kps, kds, self.stat_data[-1]):
|
||||
pos = motor.getPosition()
|
||||
vel = motor.getVelocity()
|
||||
delta = goal_position - pos
|
||||
goal_tau = kp * delta - kd * vel
|
||||
_goal_pos, _goal_tau, _pos, _vel, _tau = stat
|
||||
x = np.array([[_pos, _vel, _tau, _goal_pos, _goal_tau],
|
||||
[pos, vel, motor.getTorque(), goal_position, goal_tau]])
|
||||
x /= np.array([[np.pi, 10, TORQUE_SCALER, np.pi, TORQUE_SCALER]])
|
||||
xs = []
|
||||
for tau in np.linspace(goal_tau/TORQUE_SCALER - search_range,
|
||||
goal_tau/TORQUE_SCALER + search_range,
|
||||
num=search_step):
|
||||
x_ = x.copy()
|
||||
x_[0,4] = tau
|
||||
xs.append(x_.flatten())
|
||||
h = reg.predict(xs)
|
||||
diff = h - goal_position
|
||||
tau = TORQUE_SCALER * xs[np.argmin(diff ** 2)][4]
|
||||
goal_tau = tau
|
||||
motor.goal_position = goal_position
|
||||
motor.goal_tau = goal_tau
|
||||
self.control.controlMIT(motor, 0, 0, 0, 0, goal_tau)
|
||||
sleep(0.00003)
|
||||
|
||||
def move_towards_sync(self, goal_positions, kps, kds):
|
||||
for motor, goal_position, kp, kd in zip(self.motors, goal_positions, kps, kds):
|
||||
delta = goal_position - motor.getPosition()
|
||||
v = motor.getVelocity()
|
||||
tau = kp * delta - kd * v
|
||||
motor.goal_position = goal_position
|
||||
motor.goal_tau = tau
|
||||
self.control.controlMIT(motor, 0, 0, 0, 0, tau)
|
||||
# sleep(0.00003)
|
||||
|
||||
def set_goal_torque_sync(self, goal_taus):
|
||||
for motor, goal_tau in zip(self.motors, goal_taus):
|
||||
motor.goal_position = 0
|
||||
motor.goal_tau = goal_tau
|
||||
self.control.controlMIT(motor, 0, 0, 0, 0, motor.goal_tau)
|
||||
sleep(0.00003)
|
||||
|
||||
def move_torque_sync(self, taus):
|
||||
for motor,tau in zip(self.motors, taus):
|
||||
motor.goal_position = 0
|
||||
motor.goal_tau = tau
|
||||
self.control.controlMIT(motor, 0, 0, 0, 0, motor.goal_tau)
|
||||
sleep(0.00003)
|
||||
|
||||
def keep_torque_sync(self):
|
||||
for motor in self.motors:
|
||||
self.control.controlMIT(motor, 0, 0, 0, 0, motor.goal_tau)
|
||||
sleep(0.00003)
|
||||
|
||||
async def set_goal_positions(self, goal_positions, kps):
|
||||
for motor, goal_position, kp in zip(self.motors, goal_positions, kps):
|
||||
motor.goal_position = goal_position
|
||||
motor.goal_tau = 0
|
||||
self.control.controlMIT(motor, kp, 1.2, goal_position, 0, 0)
|
||||
await asyncio.sleep(0.00003)
|
||||
|
||||
def set_goal_positions_sync(self, goal_positions, kps, kds):
|
||||
for motor, goal_position, kp, kd in zip(self.motors, goal_positions, kps, kds):
|
||||
motor.goal_position = goal_position
|
||||
motor.goal_tau = 0
|
||||
self.control.controlMIT(motor, kp, kd, goal_position, 0, 0)
|
||||
sleep(0.00003)
|
||||
|
||||
def set_goal_posvel(self, goal_positions):
|
||||
for motor, goal_position in zip(self.motors, goal_positions):
|
||||
motor.goal_position = goal_position
|
||||
motor.goal_tau = 0
|
||||
self.control.control_pos_force(motor, goal_position, 1, 1)
|
||||
|
||||
def controlMIT(self, motor, kp, kd, q, dq, tau):
|
||||
self.control.controlMIT(self.motors[motor], kp, kd, q, dq, tau)
|
||||
|
||||
@@ -30,4 +30,12 @@ python -m lerobot.scripts.lerobot_edit_dataset \
|
||||
--operation.type merge --push_to_hub true \
|
||||
--operation.repo_ids "['lerobot-data-collection/test-2025-11-03-13-18', 'lerobot-data-collection/test-2025-11-03-13-19', 'lerobot-data-collection/test-2025-11-03-13-20', 'lerobot-data-collection/test-2025-11-03-13-21', 'lerobot-data-collection/test-2025-11-03-13-23', 'lerobot-data-collection/test-2025-11-03-13-24', 'lerobot-data-collection/test-2025-11-03-13-25', 'lerobot-data-collection/test-2025-11-03-13-26', 'lerobot-data-collection/test-2025-11-03-13-27', 'lerobot-data-collection/test-2025-11-03-13-29', 'lerobot-data-collection/test-2025-11-03-13-30', 'lerobot-data-collection/test-2025-11-03-13-31', 'lerobot-data-collection/test-2025-11-03-13-34', 'lerobot-data-collection/test-2025-11-03-13-41', 'lerobot-data-collection/test-2025-11-03-13-42', 'lerobot-data-collection/test-2025-11-03-13-43', 'lerobot-data-collection/test-2025-11-03-13-44', 'lerobot-data-collection/test-2025-11-03-13-45', 'lerobot-data-collection/test-2025-11-03-13-46', 'lerobot-data-collection/test-2025-11-03-13-47', 'lerobot-data-collection/test-2025-11-03-13-48', 'lerobot-data-collection/test-2025-11-03-13-49']"
|
||||
|
||||
# RUN loop_dataset.py to get your repo_ids
|
||||
# RUN loop_dataset.py to get your repo_ids
|
||||
|
||||
# ========================================================= Two folds datasets
|
||||
|
||||
#merge
|
||||
python -m lerobot.scripts.lerobot_edit_dataset \
|
||||
--repo_id lerobot-data-collection/two-folds-dataset-full-11-04 \
|
||||
--operation.type merge --push_to_hub true \
|
||||
--operation.repo_ids "['lerobot-data-collection/two-folds-dataset-2025-11-04-15-06', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-08', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-10', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-11', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-12', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-14', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-16', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-18', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-20', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-22', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-24', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-25', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-27', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-28', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-29', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-33', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-34', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-35', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-36', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-52', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-53', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-54', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-55', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-56', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-57', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-59', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-00', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-01', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-02', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-03', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-04', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-05', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-06', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-07', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-08', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-09', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-26', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-28', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-29', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-30']"
|
||||
Reference in New Issue
Block a user