mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 17:20:05 +00:00
Steven Palma
9cfb5ce546
* fix(motors): cleanup imports + fix signatures * feat(motors): add damiao canbus + multiple fixes * fix(motors): address comments -> last_state + different gains + sleep * refactor(motors): reduce duplicated code + adressed some comments in the PR * chore(motors): better timeouts * tests(motors): damiao test and imports * chore(deps): fix space * Apply suggestions from code review Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> * chore(motors): remove normalization tables damiao * fix(motors): imports and signatures * feat(motors): add motor_type_str + recv_id to motor class and _get_motor_recv_id raises if no motor_obj.recv_id * chore(motors): remove normalize from base motor class and damaio * tests(motors): remove bad tests (to be replaced) * chore(motors): updated import check * use constant for kp and kd range and check responses in mit_control_batch() * Add docs on setting up canbus and use damiao otor bus, also add lerobot_setup_can.py and log if there is not response from a write command * precommit format * supress bandit as these are intentional cli commands * fix setup-can * add test * skip test in ci * nit precommit * update doc example * dont import can for tests --------- Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Pepijn <pepijn@huggingface.co>
67 lines
1.7 KiB
Python
67 lines
1.7 KiB
Python
"""Minimal test script for Damiao motor with ID 3."""
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import pytest
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from lerobot.utils.import_utils import _can_available
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if not _can_available:
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pytest.skip("python-can not available", allow_module_level=True)
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from lerobot.motors import Motor
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from lerobot.motors.damiao import DamiaoMotorsBus
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@pytest.mark.skip(reason="Requires physical Damiao motor and CAN interface")
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def test_damiao_motor():
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motors = {
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"joint_3": Motor(
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id=0x03,
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model="damiao",
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norm_mode="degrees",
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motor_type_str="dm4310",
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recv_id=0x13,
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),
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}
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bus = DamiaoMotorsBus(port="can0", motors=motors)
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try:
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print("Connecting...")
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bus.connect()
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print("✓ Connected")
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print("Enabling torque...")
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bus.enable_torque()
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print("✓ Torque enabled")
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print("Reading all states...")
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states = bus.sync_read_all_states()
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print(f"✓ States: {states}")
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print("Reading position...")
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positions = bus.sync_read("Present_Position")
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print(f"✓ Position: {positions}")
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print("Testing MIT control batch...")
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current_pos = states["joint_3"]["position"]
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commands = {"joint_3": (10.0, 0.5, current_pos, 0.0, 0.0)}
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bus._mit_control_batch(commands)
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print("✓ MIT control batch sent")
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print("Disabling torque...")
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bus.disable_torque()
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print("✓ Torque disabled")
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print("Setting zero position...")
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bus.set_zero_position()
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print("✓ Zero position set")
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finally:
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print("Disconnecting...")
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bus.disconnect(disable_torque=True)
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print("✓ Disconnected")
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if __name__ == "__main__":
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test_damiao_motor()
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