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add longer timeout

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This commit is contained in:
croissant
2025-11-05 12:24:55 +01:00
committed by Michel Aractingi
parent 4744f99990
commit 09f1673cbf
5 changed files with 28 additions and 848 deletions
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examples/openarms/evaluate.py
+11 -8
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@@ -28,6 +28,7 @@ import time
from pathlib import Path from pathlib import Path
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.configs.policies import PreTrainedConfig
from lerobot.datasets.lerobot_dataset import LeRobotDataset from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
from lerobot.datasets.utils import combine_feature_dicts from lerobot.datasets.utils import combine_feature_dicts
@@ -43,9 +44,9 @@ from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun from lerobot.utils.visualization_utils import init_rerun
HF_MODEL_ID = "<hf_username>/<model_repo_id>" # TODO: Replace with your trained model HF_MODEL_ID = "lerobot-data-collection/two-folds-act" # TODO: Replace with your trained model
HF_EVAL_DATASET_ID = "<hf_username>/<eval_dataset_repo_id>" # TODO: Replace with your eval dataset name HF_EVAL_DATASET_ID = "lerobot-data-collection/eval-two-folds-act-50k-9" # TODO: Replace with your eval dataset name
TASK_DESCRIPTION = "Your task description here" # TODO: Replace with your task, this should match!! TASK_DESCRIPTION = "two-folds-dataset" # TODO: Replace with your task, this should match!!
NUM_EPISODES = 5 NUM_EPISODES = 5
FPS = 30 FPS = 30
@@ -64,8 +65,8 @@ LEADER_RIGHT_PORT = "can1"
# Camera configuration # Camera configuration
CAMERA_CONFIG = { CAMERA_CONFIG = {
"left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=640, height=480, fps=FPS), "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=640, height=480, fps=FPS),
"right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=FPS), "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video4", width=640, height=480, fps=FPS),
"base": OpenCVCameraConfig(index_or_path="/dev/video4", width=640, height=480, fps=FPS), "base": OpenCVCameraConfig(index_or_path="/dev/video7", width=640, height=480, fps=FPS),
} }
def main(): def main():
@@ -121,9 +122,6 @@ def main():
else: else:
print(f"Leader connected but gravity compensation unavailable (no URDF)") print(f"Leader connected but gravity compensation unavailable (no URDF)")
policy = make_policy.from_pretrained(HF_MODEL_ID)
# Build default processors for action and observation # Build default processors for action and observation
teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors() teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
@@ -171,6 +169,11 @@ def main():
image_writer_threads=12, image_writer_threads=12,
) )
# Load policy config from pretrained model and create policy using factory
policy_config = PreTrainedConfig.from_pretrained(HF_MODEL_ID)
policy_config.pretrained_path = HF_MODEL_ID
policy = make_policy(policy_config, ds_meta=dataset.meta)
preprocessor, postprocessor = make_pre_post_processors( preprocessor, postprocessor = make_pre_post_processors(
policy_cfg=policy.config, policy_cfg=policy.config,
pretrained_path=HF_MODEL_ID, pretrained_path=HF_MODEL_ID,
examples/openarms_web_interface/web_record_server.py
+1 -1
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@@ -189,7 +189,7 @@ def initialize_robots_only(config: RobotSetupConfig):
can_interface="socketcan", can_interface="socketcan",
id="openarms_follower", id="openarms_follower",
disable_torque_on_disconnect=True, disable_torque_on_disconnect=True,
max_relative_target=10.0, max_relative_target=30.0,
cameras=camera_config, cameras=camera_config,
) )
src/lerobot/motors/damiao/damiao.py
+7 -5
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@@ -377,7 +377,7 @@ class DamiaoMotorsBus(MotorsBusBase):
try: try:
while len(responses) < len(expected_recv_ids) and (time.time() - start_time) < timeout: while len(responses) < len(expected_recv_ids) and (time.time() - start_time) < timeout:
msg = self.canbus.recv(timeout=0.0001) # 100us poll timeout msg = self.canbus.recv(timeout=0.0002) # 200us poll timeout (increased from 100us for better reliability)
if msg and msg.arbitration_id in expected_set: if msg and msg.arbitration_id in expected_set:
responses[msg.arbitration_id] = msg responses[msg.arbitration_id] = msg
if len(responses) == len(expected_recv_ids): if len(responses) == len(expected_recv_ids):
@@ -633,7 +633,7 @@ class DamiaoMotorsBus(MotorsBusBase):
# Step 2: Collect all responses at once (batch receive) # Step 2: Collect all responses at once (batch receive)
expected_recv_ids = [self._get_motor_recv_id(motor) for motor in motors] expected_recv_ids = [self._get_motor_recv_id(motor) for motor in motors]
responses = self._recv_all_responses(expected_recv_ids, timeout=0.003) # 3ms total timeout responses = self._recv_all_responses(expected_recv_ids, timeout=0.01) # 10ms total timeout
# Step 3: Parse responses # Step 3: Parse responses
for motor in motors: for motor in motors:
@@ -688,16 +688,17 @@ class DamiaoMotorsBus(MotorsBusBase):
motors = self._get_motors_list(motors) motors = self._get_motors_list(motors)
result = {} result = {}
# Step 1: Send refresh commands to ALL motors first (no waiting) # Step 1: Send refresh commands to ALL motors first (with small delays to reduce bus congestion)
for motor in motors: for motor in motors:
motor_id = self._get_motor_id(motor) motor_id = self._get_motor_id(motor)
data = [motor_id & 0xFF, (motor_id >> 8) & 0xFF, CAN_CMD_REFRESH, 0, 0, 0, 0, 0] data = [motor_id & 0xFF, (motor_id >> 8) & 0xFF, CAN_CMD_REFRESH, 0, 0, 0, 0, 0]
msg = can.Message(arbitration_id=CAN_PARAM_ID, data=data, is_extended_id=False) msg = can.Message(arbitration_id=CAN_PARAM_ID, data=data, is_extended_id=False)
self.canbus.send(msg) self.canbus.send(msg)
time.sleep(0.0001) # 100us delay between commands to reduce bus congestion
# Step 2: Collect all responses at once (batch receive) # Step 2: Collect all responses at once (batch receive)
expected_recv_ids = [self._get_motor_recv_id(motor) for motor in motors] expected_recv_ids = [self._get_motor_recv_id(motor) for motor in motors]
responses = self._recv_all_responses(expected_recv_ids, timeout=0.003) # 3ms total timeout responses = self._recv_all_responses(expected_recv_ids, timeout=0.015) # 15ms timeout (increased for reliability)
# Step 3: Parse responses and extract ALL state values # Step 3: Parse responses and extract ALL state values
for motor in motors: for motor in motors:
@@ -774,10 +775,11 @@ class DamiaoMotorsBus(MotorsBusBase):
msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False) msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
self.canbus.send(msg) self.canbus.send(msg)
time.sleep(0.0001) # 100us delay between commands to reduce bus congestion
# Step 2: Collect all responses at once # Step 2: Collect all responses at once
expected_recv_ids = [self._get_motor_recv_id(motor) for motor in values.keys()] expected_recv_ids = [self._get_motor_recv_id(motor) for motor in values.keys()]
self._recv_all_responses(expected_recv_ids, timeout=0.002) # 2ms timeout self._recv_all_responses(expected_recv_ids, timeout=0.015) # 15ms timeout (increased for reliability)
else: else:
# Fall back to individual writes for other data types # Fall back to individual writes for other data types
for motor, value in values.items(): for motor, value in values.items():
src/lerobot/motors/damiao/seed_damiao.py
-833
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@@ -1,833 +0,0 @@
## This is a derivative of the following software.
## https://github.com/cmjang/DM_Control_Python/blob/main/DM_CAN.py
import can
from time import sleep, time
import numpy as np
from enum import IntEnum
from struct import unpack
from struct import pack
class Motor:
def __init__(self, MotorType, SlaveID, MasterID):
"""
define Motor object 定义电机对象
:param MotorType: Motor type 电机类型
:param SlaveID: CANID 电机ID
:param MasterID: MasterID 主机ID 建议不要设为0
"""
self.Pd = float(0)
self.Vd = float(0)
self.goal_position = float(0)
self.goal_tau = float(0)
self.state_q = float(0)
self.state_dq = float(0)
self.state_tau = float(0)
self.state_tmos = int(0)
self.state_trotor = int(0)
self.SlaveID = SlaveID
self.MasterID = MasterID
self.MotorType = MotorType
self.isEnable = False
self.NowControlMode = Control_Type.MIT
self.temp_param_dict = {}
def recv_data(self, q: float, dq: float, tau: float, tmos: int, trotor: int):
self.state_q = q
self.state_dq = dq
self.state_tau = tau
self.state_tmos = tmos
self.state_trotor = trotor
def getPosition(self):
"""
get the position of the motor 获取电机位置
:return: the position of the motor 电机位置
"""
return self.state_q
def getVelocity(self):
"""
get the velocity of the motor 获取电机速度
:return: the velocity of the motor 电机速度
"""
return self.state_dq
def getTorque(self):
"""
get the torque of the motor 获取电机力矩
:return: the torque of the motor 电机力矩
"""
return self.state_tau
def getParam(self, RID):
"""
get the parameter of the motor 获取电机内部的参数，需要提前读取
:param RID: DM_variable 电机参数
:return: the parameter of the motor 电机参数
"""
if RID in self.temp_param_dict:
return self.temp_param_dict[RID]
else:
return None
class MotorControl:
#send_data_frame = np.array(
# [0x55, 0xAA, 0x1e, 0x03, 0x01, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0, 0, 0, 0, 0x00, 0x08, 0x00,
# 0x00, 0, 0, 0, 0, 0, 0, 0, 0, 0x00], np.uint8)
# 4310 4310_48 4340 4340_48
Limit_Param = [[12.5, 30, 10], [12.5, 50, 10], [12.5, 8, 28], [12.5, 10, 28],
# 6006 8006 8009 10010L 10010
[12.5, 45, 20], [12.5, 45, 40], [12.5, 45, 54], [12.5, 25, 200], [12.5, 20, 200],
# H3510 DMG62150 DMH6220
[12.5 , 280 , 1],[12.5 , 45 , 10],[12.5 , 45 , 10]]
def __init__(self, channel: str, bitrate: int = 1000000):
"""
define MotorControl object 定义电机控制对象
:param serial_device: serial object 串口对象
"""
#self.serial_ = serial_device
self.motors_map = dict()
self.data_save = bytes() # save data
#if self.serial_.is_open: # open the serial port
# print("Serial port is open")
# serial_device.close()
#self.serial_.open()
self.canbus = can.interface.Bus(channel=channel, interface='socketcan', bitrate=bitrate)
#print("can is open")
def controlMIT(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float):
"""
MIT Control Mode Function 达妙电机MIT控制模式函数
:param DM_Motor: Motor object 电机对象
:param kp: kp
:param kd: kd
:param q: position 期望位置
:param dq: velocity 期望速度
:param tau: torque 期望力矩
:return: None
"""
if DM_Motor.SlaveID not in self.motors_map:
print("controlMIT ERROR : Motor ID not found")
return
kp_uint = float_to_uint(kp, 0, 500, 12)
kd_uint = float_to_uint(kd, 0, 5, 12)
MotorType = DM_Motor.MotorType
Q_MAX = self.Limit_Param[MotorType][0]
DQ_MAX = self.Limit_Param[MotorType][1]
TAU_MAX = self.Limit_Param[MotorType][2]
q_uint = float_to_uint(q, -Q_MAX, Q_MAX, 16)
dq_uint = float_to_uint(dq, -DQ_MAX, DQ_MAX, 12)
tau_uint = float_to_uint(tau, -TAU_MAX, TAU_MAX, 12)
data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
data_buf[0] = (q_uint >> 8) & 0xff
data_buf[1] = q_uint & 0xff
data_buf[2] = dq_uint >> 4
data_buf[3] = ((dq_uint & 0xf) << 4) | ((kp_uint >> 8) & 0xf)
data_buf[4] = kp_uint & 0xff
data_buf[5] = kd_uint >> 4
data_buf[6] = ((kd_uint & 0xf) << 4) | ((tau_uint >> 8) & 0xf)
data_buf[7] = tau_uint & 0xff
self.__send_data(DM_Motor.SlaveID, data_buf)
self.recv() # receive the data from serial port
def control_delay(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float, delay: float):
"""
MIT Control Mode Function with delay 达妙电机MIT控制模式函数带延迟
:param DM_Motor: Motor object 电机对象
:param kp: kp
:param kd: kd
:param q: position 期望位置
:param dq: velocity 期望速度
:param tau: torque 期望力矩
:param delay: delay time 延迟时间 单位秒
"""
self.controlMIT(DM_Motor, kp, kd, q, dq, tau)
sleep(delay)
def control_Pos_Vel(self, Motor, P_desired: float, V_desired: float):
"""
control the motor in position and velocity control mode 电机位置速度控制模式
:param Motor: Motor object 电机对象
:param P_desired: desired position 期望位置
:param V_desired: desired velocity 期望速度
:return: None
"""
if Motor.SlaveID not in self.motors_map:
print("Control Pos_Vel Error : Motor ID not found")
return
motorid = 0x100 + Motor.SlaveID
data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
P_desired_uint8s = float_to_uint8s(P_desired)
V_desired_uint8s = float_to_uint8s(V_desired)
data_buf[0:4] = P_desired_uint8s
data_buf[4:8] = V_desired_uint8s
self.__send_data(motorid, data_buf)
self.recv() # receive the data from serial port
def control_Vel(self, Motor, Vel_desired):
"""
control the motor in velocity control mode 电机速度控制模式
:param Motor: Motor object 电机对象
:param Vel_desired: desired velocity 期望速度
"""
if Motor.SlaveID not in self.motors_map:
print("control_VEL ERROR : Motor ID not found")
return
motorid = 0x200 + Motor.SlaveID
data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
Vel_desired_uint8s = float_to_uint8s(Vel_desired)
data_buf[0:4] = Vel_desired_uint8s
self.__send_data(motorid, data_buf)
self.recv() # receive the data from serial port
def control_pos_force(self, Motor, Pos_des: float, Vel_des, i_des):
"""
control the motor in EMIT control mode 电机力位混合模式
:param Pos_des: desired position rad 期望位置 单位为rad
:param Vel_des: desired velocity rad/s 期望速度 为放大100倍
:param i_des: desired current rang 0-10000 期望电流标幺值放大10000倍
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
"""
if Motor.SlaveID not in self.motors_map:
print("control_pos_vel ERROR : Motor ID not found")
return
motorid = 0x300 + Motor.SlaveID
data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
Pos_desired_uint8s = float_to_uint8s(Pos_des)
data_buf[0:4] = Pos_desired_uint8s
Vel_uint = np.uint16(Vel_des)
ides_uint = np.uint16(i_des)
data_buf[4] = Vel_uint & 0xff
data_buf[5] = Vel_uint >> 8
data_buf[6] = ides_uint & 0xff
data_buf[7] = ides_uint >> 8
self.__send_data(motorid, data_buf)
self.recv() # receive the data from serial port
def enable(self, Motor):
"""
enable motor 使能电机
最好在上电后几秒后再使能电机
:param Motor: Motor object 电机对象
"""
self.__control_cmd(Motor, np.uint8(0xFC))
sleep(0.1)
self.recv() # receive the data from serial port
def enable_old(self, Motor ,ControlMode):
"""
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
可恶的旧版本固件使能需要加上偏移量
最好在上电后几秒后再使能电机
:param Motor: Motor object 电机对象
"""
data_buf = np.array([0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc], np.uint8)
enable_id = ((int(ControlMode)-1) << 2) + Motor.SlaveID
self.__send_data(enable_id, data_buf)
sleep(0.1)
self.recv() # receive the data from serial port
def disable(self, Motor):
"""
disable motor 失能电机
:param Motor: Motor object 电机对象
"""
self.__control_cmd(Motor, np.uint8(0xFD))
sleep(0.1)
self.recv() # receive the data from serial port
def set_zero_position(self, Motor):
"""
set the zero position of the motor 设置电机0位
:param Motor: Motor object 电机对象
"""
self.__control_cmd(Motor, np.uint8(0xFE))
sleep(0.1)
self.recv() # receive the data from serial port
def recv(self):
# 把上次没有解析完的剩下的也放进来
# data_recv = b''.join([self.data_save, self.serial_.read_all()])
#data_recv = b''.join([self.data_save, self.canbus.recv()])
# 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_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)
src/lerobot/scratch.txt
+9 -1
View File
@@ -30,4 +30,12 @@ python -m lerobot.scripts.lerobot_edit_dataset \
--operation.type merge --push_to_hub true \ --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']" --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']"