mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-21 11:39:50 +00:00
Simon Alibert
111 lines
4.2 KiB
Python
111 lines
4.2 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# TODO(aliberts): Should we implement FastSyncRead/Write?
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# https://github.com/ROBOTIS-GIT/DynamixelSDK/pull/643
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# https://github.com/ROBOTIS-GIT/DynamixelSDK/releases/tag/3.8.2
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# https://emanual.robotis.com/docs/en/dxl/protocol2/#fast-sync-read-0x8a
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# -> Need to check compatibility across models
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from copy import deepcopy
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from ..motors_bus import Motor, MotorsBus
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from .tables import MODEL_BAUDRATE_TABLE, MODEL_CONTROL_TABLE, MODEL_RESOLUTION
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PROTOCOL_VERSION = 2.0
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BAUDRATE = 1_000_000
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DEFAULT_TIMEOUT_MS = 1000
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MAX_ID_RANGE = 252
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CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
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CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "Present_Position"]
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class DynamixelMotorsBus(MotorsBus):
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"""
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The Dynamixel implementation for a MotorsBus. It relies on the python dynamixel sdk to communicate with
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the motors. For more info, see the Dynamixel SDK Documentation:
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https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/python_read_write_protocol_2_0/#python-read-write-protocol-20
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"""
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model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)
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model_resolution_table = deepcopy(MODEL_RESOLUTION)
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model_baudrate_table = deepcopy(MODEL_BAUDRATE_TABLE)
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calibration_required = deepcopy(CALIBRATION_REQUIRED)
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default_timeout = DEFAULT_TIMEOUT_MS
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def __init__(
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self,
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port: str,
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motors: dict[str, Motor],
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):
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super().__init__(port, motors)
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import dynamixel_sdk as dxl
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self.port_handler = dxl.PortHandler(self.port)
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self.packet_handler = dxl.PacketHandler(PROTOCOL_VERSION)
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self.sync_reader = dxl.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
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self.sync_writer = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
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self._comm_success = dxl.COMM_SUCCESS
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self._error = 0x00
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def broadcast_ping(
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self, num_retry: int = 0, raise_on_error: bool = False
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) -> dict[int, list[int, int]] | None:
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for _ in range(1 + num_retry):
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data_list, comm = self.packet_handler.broadcastPing(self.port_handler)
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if self._is_comm_success(comm):
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return data_list
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if raise_on_error:
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raise ConnectionError(f"Broadcast ping returned a {comm} comm error.")
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def calibrate_values(self, ids_values: dict[int, int]) -> dict[int, float]:
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# TODO
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return ids_values
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def uncalibrate_values(self, ids_values: dict[int, float]) -> dict[int, int]:
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# TODO
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return ids_values
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@staticmethod
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def split_int_bytes(value: int, n_bytes: int) -> list[int]:
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# Validate input
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if value < 0:
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raise ValueError(f"Negative values are not allowed: {value}")
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max_value = {1: 0xFF, 2: 0xFFFF, 4: 0xFFFFFFFF}.get(n_bytes)
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if max_value is None:
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raise NotImplementedError(f"Unsupported byte size: {n_bytes}. Expected [1, 2, 4].")
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if value > max_value:
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raise ValueError(f"Value {value} exceeds the maximum for {n_bytes} bytes ({max_value}).")
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import dynamixel_sdk as dxl
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# Note: No need to convert back into unsigned int, since this byte preprocessing
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# already handles it for us.
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if n_bytes == 1:
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data = [value]
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elif n_bytes == 2:
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data = [dxl.DXL_LOBYTE(value), dxl.DXL_HIBYTE(value)]
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elif n_bytes == 4:
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data = [
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dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
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dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)),
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dxl.DXL_LOBYTE(dxl.DXL_HIWORD(value)),
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dxl.DXL_HIBYTE(dxl.DXL_HIWORD(value)),
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]
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return data
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