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Fix setup_motor & add it to robots

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This commit is contained in:
Simon Alibert
2025-04-17 16:56:23 +02:00
parent bf1c737858
commit 702749b7d3
8 changed files with 51 additions and 11 deletions
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lerobot/common/motors/dynamixel/dynamixel.py
+5 -1
View File
@@ -24,7 +24,7 @@ from enum import Enum
from lerobot.common.utils.encoding_utils import decode_twos_complement, encode_twos_complement
from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value
from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value, get_address
from .tables import (
AVAILABLE_BAUDRATES,
MODEL_BAUDRATE_TABLE,
@@ -198,6 +198,10 @@ class DynamixelMotorsBus(MotorsBus):
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.DISABLED.value, num_retry=num_retry)
def _disable_torque(self, motor_id: int, model: str, num_retry: int = 0) -> None:
addr, length = get_address(self.model_ctrl_table, model, "Torque_Enable")
self._write(addr, length, motor_id, TorqueMode.DISABLED.value, num_retry=num_retry)
def enable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.ENABLED.value, num_retry=num_retry)
lerobot/common/motors/feetech/feetech.py
+7 -1
View File
@@ -19,7 +19,7 @@ from pprint import pformat
from lerobot.common.utils.encoding_utils import decode_sign_magnitude, encode_sign_magnitude
from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value
from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value, get_address
from .tables import (
FIRMWARE_MAJOR_VERSION,
FIRMWARE_MINOR_VERSION,
@@ -280,6 +280,12 @@ class FeetechMotorsBus(MotorsBus):
self.write("Torque_Enable", name, TorqueMode.DISABLED.value, num_retry=num_retry)
self.write("Lock", name, 0, num_retry=num_retry)
def _disable_torque(self, motor_id: int, model: str, num_retry: int = 0) -> None:
addr, length = get_address(self.model_ctrl_table, model, "Torque_Enable")
self._write(addr, length, motor_id, TorqueMode.DISABLED.value, num_retry=num_retry)
addr, length = get_address(self.model_ctrl_table, model, "Lock")
self._write(addr, length, motor_id, 0, num_retry=num_retry)
def enable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
for name in self._get_motors_list(motors):
self.write("Torque_Enable", name, TorqueMode.ENABLED.value, num_retry=num_retry)
lerobot/common/motors/motors_bus.py
+8 -3
View File
@@ -464,13 +464,14 @@ class MotorsBus(abc.ABC):
model = self.motors[motor].model
target_id = self.motors[motor].id
self.set_baudrate(initial_baudrate)
self._disable_torque(initial_id, model)
# Set ID
addr, length = get_address(self.model_ctrl_table, "ID", model)
addr, length = get_address(self.model_ctrl_table, model, "ID")
self._write(addr, length, initial_id, target_id)
# Set Baudrate
addr, length = get_address(self.model_ctrl_table, "Baud_Rate", model)
addr, length = get_address(self.model_ctrl_table, model, "Baud_Rate")
baudrate_value = self.model_baudrate_table[model][self.default_baudrate]
self._write(addr, length, target_id, baudrate_value)
@@ -485,7 +486,11 @@ class MotorsBus(abc.ABC):
pass
@abc.abstractmethod
def disable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
def disable_torque(self, motors: int | str | list[str] | None = None, num_retry: int = 0) -> None:
pass
@abc.abstractmethod
def _disable_torque(self, motor: int, model: str, num_retry: int = 0) -> None:
pass
@abc.abstractmethod