admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-23 01:41:54 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix(dynamixel): AX-aware calibration for Protocol 1

Browse Source 
AX-series motors expose no Homing_Offset/Min|Max_Position_Limit/Drive_Mode
registers and cannot Sync Read. Read/write calibration now branch on
protocol, using CW/CCW angle limits as the position range (homing offset
fixed at 0) and sequential reads. _get_half_turn_homings raises a clear
error on Protocol 1 since AX has no homing-offset register.
This commit is contained in:
CarolinePascal
2026-07-05 17:15:01 +02:00
parent fc5231b5d0
commit e32974823e
1 changed files with 26 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/motors/dynamixel/dynamixel.py
+26 -3
View File
@@ -210,6 +210,20 @@ class DynamixelMotorsBus(SerialMotorsBus):
return self.calibration == self.read_calibration()
def read_calibration(self) -> dict[str, MotorCalibration]:
if self.protocol_version == 1:
# AX-series (Protocol 1.0) has no Homing_Offset/Drive_Mode registers, uses CW/CCW angle
# limits as its position range, and does not support Sync Read.
calibration = {}
for motor, m in self.motors.items():
calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=0,
homing_offset=0,
range_min=int(self.read("CW_Angle_Limit", motor, normalize=False)),
range_max=int(self.read("CCW_Angle_Limit", motor, normalize=False)),
)
return calibration
offsets = self.sync_read("Homing_Offset", normalize=False)
mins = self.sync_read("Min_Position_Limit", normalize=False)
maxes = self.sync_read("Max_Position_Limit", normalize=False)
@@ -229,9 +243,13 @@ class DynamixelMotorsBus(SerialMotorsBus):
def write_calibration(self, calibration_dict: dict[str, MotorCalibration], cache: bool = True) -> None:
for motor, calibration in calibration_dict.items():
self.write("Homing_Offset", motor, calibration.homing_offset)
self.write("Min_Position_Limit", motor, calibration.range_min)
self.write("Max_Position_Limit", motor, calibration.range_max)
if self.protocol_version == 1:
self.write("CW_Angle_Limit", motor, calibration.range_min)
self.write("CCW_Angle_Limit", motor, calibration.range_max)
else:
self.write("Homing_Offset", motor, calibration.homing_offset)
self.write("Min_Position_Limit", motor, calibration.range_min)
self.write("Max_Position_Limit", motor, calibration.range_max)
if cache:
self.calibration = calibration_dict
@@ -273,6 +291,11 @@ class DynamixelMotorsBus(SerialMotorsBus):
On Dynamixel Motors:
Present_Position = Actual_Position + Homing_Offset
"""
if self.protocol_version == 1:
raise NotImplementedError(
"AX-series motors (Protocol 1.0) have no Homing_Offset register; "
"calibrate the position range via CW/CCW angle limits instead."
)
half_turn_homings: dict[NameOrID, Value] = {}
for motor, pos in positions.items():
model = self._get_motor_model(motor)