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add disable torque

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This commit is contained in:
croissant
2025-11-04 09:44:25 +01:00
parent 485aa2332c
commit da71b233be
5 changed files with 98 additions and 29 deletions
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examples/openarms_web_interface/App.css
+18 -2
View File
@@ -433,13 +433,29 @@ button {
.status.recording.recording-active .time-display {
display: flex;
align-items: center;
gap: 0.75rem;
flex-direction: column;
gap: 0.5rem;
font-size: 1.5rem;
font-weight: 700;
color: white;
}
.fps-display {
font-size: 1rem;
font-weight: 500;
opacity: 0.95;
}
.fps-warning {
color: #fef2f2;
animation: pulse-warning 1s ease-in-out infinite;
}
@keyframes pulse-warning {
0%, 100% { opacity: 1; }
50% { opacity: 0.5; }
}
.status.recording.recording-active .btn-stop {
align-self: stretch;
}
examples/openarms_web_interface/App.jsx
+10 -3
View File
@@ -13,6 +13,7 @@ function App() {
const [robotsReady, setRobotsReady] = useState(false);
const [elapsedTime, setElapsedTime] = useState(0);
const [currentFps, setCurrentFps] = useState(0);
const [loopFps, setLoopFps] = useState(0);
const [episodeCount, setEpisodeCount] = useState(0);
const [error, setError] = useState(null);
const [statusMessage, setStatusMessage] = useState('Ready');
@@ -71,6 +72,7 @@ function App() {
setRobotsReady(data.robots_ready);
setElapsedTime(data.elapsed_time);
setCurrentFps(data.current_fps || 0);
setLoopFps(data.loop_fps || 0);
setEpisodeCount(data.episode_count);
setError(data.error);
setStatusMessage(data.status_message || 'Ready');
@@ -527,9 +529,14 @@ function App() {
{isRecording && rampUpRemaining <= 0 && (
<div className="status recording recording-active">
<div className="indicator"></div>
<span className="time-display">
{formatTime(elapsedTime)} @ {currentFps.toFixed(1)} FPS
</span>
<div className="time-display">
<span>{formatTime(elapsedTime)}</span>
<span className="fps-display">
Loop: {loopFps.toFixed(1)} Hz
{loopFps > 0 && loopFps < 29 && <span className="fps-warning"> ⚠️</span>}
</span>
<span className="fps-display">Recording: {currentFps.toFixed(1)} FPS</span>
</div>
<button onClick={stopRecording} className="btn-stop">
⏹ Stop
</button>
examples/openarms_web_interface/web_record_server.py
+60 -11
View File
@@ -56,6 +56,7 @@ recording_state = {
"status_message": "Ready",
"upload_status": None,
"current_fps": 0.0,
"loop_fps": 0.0, # Actual control loop FPS (critical - must be 30)
"ramp_up_remaining": 0.0, # Remaining seconds for PID ramp-up
"recording_started_time": None, # Time when actual recording starts (after ramp-up)
"moving_to_zero": False, # Whether robot is moving to zero position
@@ -378,6 +379,10 @@ def record_loop_with_compensation():
last_fps_update = loop_start_time
fps_frame_count = 0
# Separate tracking for actual loop FPS (critical for control)
loop_fps_frame_count = 0
last_loop_fps_update = loop_start_time
# All joints (both arms)
all_joints = []
for motor in leader.bus_right.motors:
@@ -404,15 +409,28 @@ def record_loop_with_compensation():
# Update ramp-up status for UI
recording_state["ramp_up_remaining"] = round(ramp_up_remaining, 2)
# Track if we're falling behind - if so, skip encoding to maintain FPS
# Check if previous loop took too long (indicating we're falling behind)
# CRITICAL: Track actual control loop FPS (must be 30 Hz)
# Calculate every second for accurate monitoring
loop_fps_frame_count += 1
loop_elapsed = loop_start - last_loop_fps_update
if loop_elapsed >= 1.0:
actual_loop_fps = loop_fps_frame_count / loop_elapsed
recording_state["loop_fps"] = round(actual_loop_fps, 1)
loop_fps_frame_count = 0
last_loop_fps_update = loop_start
# Log if we're falling behind
if actual_loop_fps < 29.0:
print(f"[Recording] WARNING: Loop FPS low: {actual_loop_fps:.1f} Hz")
# More aggressive skip logic: skip encoding if loop is taking >90% of frame time
# OR if previous loop was slow
if hasattr(record_loop_with_compensation, '_last_loop_duration'):
# If previous loop took longer than frame time, we're falling behind - skip encoding
skip_encoding = record_loop_with_compensation._last_loop_duration > dt * 1.1
skip_encoding = record_loop_with_compensation._last_loop_duration > dt * 0.9
else:
skip_encoding = False
# Calculate actual FPS every second (only after ramp-up)
# Calculate frame recording FPS every second (only after ramp-up)
if is_ramp_up_complete:
elapsed = loop_start - episode_start_time
fps_frame_count += 1
@@ -544,6 +562,7 @@ def record_loop_with_compensation():
encoded_frames = {}
# Only encode if we're not falling behind
# PRIORITY: 30 Hz control loop > streaming quality
if not skip_encoding:
for cam_name in ["left_wrist", "right_wrist", "base"]:
if cam_name in observation:
@@ -551,13 +570,13 @@ def record_loop_with_compensation():
if frame is not None and len(frame.shape) == 3:
# Frame is already RGB from OpenCVCamera (ColorMode.RGB by default)
# Encode once, use many times - eliminates per-stream encoding overhead
# Quick encode - use lower quality if we're tight on time
# Use low quality (40) for fast streaming - control loop is priority
encode_start = time.perf_counter()
success, jpeg_bytes = cv2.imencode('.jpg', frame, [cv2.IMWRITE_JPEG_QUALITY, 70])
success, jpeg_bytes = cv2.imencode('.jpg', frame, [cv2.IMWRITE_JPEG_QUALITY, 40])
encode_duration = time.perf_counter() - encode_start
# Only use encoded frame if encoding was fast enough (< 10ms)
if success and encode_duration < 0.01:
# Only use encoded frame if encoding was very fast (< 5ms = 15% of frame time)
if success and encode_duration < 0.005:
encoded_frames[cam_name] = jpeg_bytes.tobytes()
# If encoding took too long, skip this camera for this frame
@@ -579,7 +598,7 @@ def record_loop_with_compensation():
# Log progress every 5 seconds (150 frames @ 30 FPS)
if frame_count % 150 == 0:
print(f"[Recording] {frame_count} frames @ {recording_state['current_fps']} FPS")
print(f"[Recording] {frame_count} frames | Loop: {recording_state['loop_fps']} Hz | Recording: {recording_state['current_fps']} FPS")
except Exception as frame_error:
print(f"[Recording] Frame error: {frame_error}")
# Continue recording even if one frame fails
@@ -854,7 +873,10 @@ async def disconnect_robots():
@app.post("/api/robots/move-to-zero")
async def move_to_zero():
"""Move follower robot to zero position with reduced gains (for 2 seconds)."""
"""Move follower robot to zero position with reduced gains (for 2 seconds).
Also disables leader torque during the movement for safety and ease of repositioning.
"""
global recording_state
if recording_state["is_recording"] or recording_state["is_initializing"]:
@@ -871,6 +893,14 @@ async def move_to_zero():
recording_state["status_message"] = "Moving to zero position..."
follower = robot_instances["follower"]
leader = robot_instances.get("leader")
# Disable leader torque for safety and ease of repositioning
if leader:
print(f"[MoveToZero] Disabling leader torque...")
leader.bus_right.disable_torque()
leader.bus_left.disable_torque()
time.sleep(0.1)
# Motor name to index mapping
motor_index = {
@@ -925,14 +955,32 @@ async def move_to_zero():
if sleep_time > 0:
time.sleep(sleep_time)
# Re-enable leader torque for gravity compensation
if leader:
print(f"[MoveToZero] Re-enabling leader torque...")
leader.bus_right.enable_torque()
leader.bus_left.enable_torque()
time.sleep(0.1)
recording_state["moving_to_zero"] = False
recording_state["status_message"] = "Moved to zero position" if recording_state["robots_ready"] else "Ready"
print(f"[MoveToZero] Complete - leader torque re-enabled")
return {"status": "success", "message": "Robot moved to zero position"}
except Exception as e:
recording_state["moving_to_zero"] = False
recording_state["status_message"] = f"Error: {str(e)}"
# Try to re-enable leader torque even on error
leader = robot_instances.get("leader")
if leader:
try:
leader.bus_right.enable_torque()
leader.bus_left.enable_torque()
except Exception as torque_error:
print(f"[MoveToZero] Failed to re-enable leader torque: {torque_error}")
raise HTTPException(status_code=500, detail=str(e))
@@ -952,6 +1000,7 @@ async def get_status():
"robots_ready": recording_state["robots_ready"],
"elapsed_time": elapsed,
"current_fps": recording_state["current_fps"],
"loop_fps": recording_state["loop_fps"],
"task": recording_state["task"],
"episode_count": recording_state["episode_count"],
"error": recording_state["error"],