lerobot/examples/real_robot_example/gym_real_world/robot.py

# ruff: noqa
"""From Alexander Koch low_cost_robot codebase at https://github.com/AlexanderKoch-Koch/low_cost_robot
Class to control the robot using dynamixel servos.
"""

from enum import Enum, auto
from typing import Union

import numpy as np
from dynamixel_sdk import DXL_HIBYTE, DXL_HIWORD, DXL_LOBYTE, DXL_LOWORD, GroupSyncRead, GroupSyncWrite

from .dynamixel import Dynamixel, OperatingMode, ReadAttribute


class MotorControlType(Enum):
    PWM = auto()
    POSITION_CONTROL = auto()
    DISABLED = auto()
    UNKNOWN = auto()


class Robot:
    def __init__(self, device_name: str, baudrate=1_000_000, servo_ids=[1, 2, 3, 4, 5, 6]) -> None:
        self.servo_ids = servo_ids
        self.dynamixel = Dynamixel.Config(baudrate=baudrate, device_name=device_name).instantiate()
        self._init_motors()

    def _init_motors(self):
        self.position_reader = GroupSyncRead(
            self.dynamixel.portHandler, self.dynamixel.packetHandler, ReadAttribute.POSITION.value, 4
        )
        for id in self.servo_ids:
            self.position_reader.addParam(id)

        self.velocity_reader = GroupSyncRead(
            self.dynamixel.portHandler, self.dynamixel.packetHandler, ReadAttribute.VELOCITY.value, 4
        )
        for id in self.servo_ids:
            self.velocity_reader.addParam(id)

        self.pos_writer = GroupSyncWrite(
            self.dynamixel.portHandler, self.dynamixel.packetHandler, self.dynamixel.ADDR_GOAL_POSITION, 4
        )
        for id in self.servo_ids:
            self.pos_writer.addParam(id, [2048])

        self.pwm_writer = GroupSyncWrite(
            self.dynamixel.portHandler, self.dynamixel.packetHandler, self.dynamixel.ADDR_GOAL_PWM, 2
        )
        for id in self.servo_ids:
            self.pwm_writer.addParam(id, [2048])
        # self._disable_torque()
        self.motor_control_state = MotorControlType.DISABLED

    def read_position(self, tries=2):
        """
        Reads the joint positions of the robot. 2048 is the center position. 0 and 4096 are 180 degrees in each direction.
        :param tries: maximum number of tries to read the position
        :return: list of joint positions in range [0, 4096]
        """
        result = self.position_reader.txRxPacket()
        if result != 0:
            if tries > 0:
                return self.read_position(tries=tries - 1)
            else:
                print("failed to read position!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
        positions = []
        for id in self.servo_ids:
            position = self.position_reader.getData(id, ReadAttribute.POSITION.value, 4)
            if position > 2**31:
                position -= 2**32
            positions.append(position)
        return np.array(positions)

    def read_velocity(self):
        """
        Reads the joint velocities of the robot.
        :return: list of joint velocities,
        """
        self.velocity_reader.txRxPacket()
        velocties = []
        for id in self.servo_ids:
            velocity = self.velocity_reader.getData(id, ReadAttribute.VELOCITY.value, 4)
            if velocity > 2**31:
                velocity -= 2**32
            velocties.append(velocity)
        return np.array(velocties)

    def set_goal_pos(self, action):
        """
        :param action: list or numpy array of target joint positions in range [0, 4096[
        """
        if self.motor_control_state is not MotorControlType.POSITION_CONTROL:
            self._set_position_control()
        for i, motor_id in enumerate(self.servo_ids):
            data_write = [
                DXL_LOBYTE(DXL_LOWORD(action[i])),
                DXL_HIBYTE(DXL_LOWORD(action[i])),
                DXL_LOBYTE(DXL_HIWORD(action[i])),
                DXL_HIBYTE(DXL_HIWORD(action[i])),
            ]
            self.pos_writer.changeParam(motor_id, data_write)

        self.pos_writer.txPacket()

    def set_pwm(self, action):
        """
        Sets the pwm values for the servos.
        :param action: list or numpy array of pwm values in range [0, 885]
        """
        if self.motor_control_state is not MotorControlType.PWM:
            self._set_pwm_control()
        for i, motor_id in enumerate(self.servo_ids):
            data_write = [
                DXL_LOBYTE(DXL_LOWORD(action[i])),
                DXL_HIBYTE(DXL_LOWORD(action[i])),
            ]
            self.pwm_writer.changeParam(motor_id, data_write)

        self.pwm_writer.txPacket()

    def set_trigger_torque(self, torque: int):
        """
        Sets a constant torque torque for the last servo in the chain. This is useful for the trigger of the leader arm
        """
        self.dynamixel._enable_torque(self.servo_ids[-1])
        self.dynamixel.set_pwm_value(self.servo_ids[-1], torque)

    def limit_pwm(self, limit: Union[int, list, np.ndarray]):
        """
        Limits the pwm values for the servos in for position control
        @param limit: 0 ~ 885
        @return:
        """
        if isinstance(limit, int):
            limits = [
                limit,
            ] * 5
        else:
            limits = limit
        self._disable_torque()
        for motor_id, limit in zip(self.servo_ids, limits, strict=False):
            self.dynamixel.set_pwm_limit(motor_id, limit)
        self._enable_torque()

    def _disable_torque(self):
        print(f"disabling torque for servos {self.servo_ids}")
        for motor_id in self.servo_ids:
            self.dynamixel._disable_torque(motor_id)

    def _enable_torque(self):
        print(f"enabling torque for servos {self.servo_ids}")
        for motor_id in self.servo_ids:
            self.dynamixel._enable_torque(motor_id)

    def _set_pwm_control(self):
        self._disable_torque()
        for motor_id in self.servo_ids:
            self.dynamixel.set_operating_mode(motor_id, OperatingMode.PWM)
        self._enable_torque()
        self.motor_control_state = MotorControlType.PWM

    def _set_position_control(self):
        self._disable_torque()
        for motor_id in self.servo_ids:
            # TODO(rcadene): redesign
            if motor_id == 9:
                self.dynamixel.set_operating_mode(9, OperatingMode.CURRENT_CONTROLLED_POSITION)
            else:
                self.dynamixel.set_operating_mode(motor_id, OperatingMode.POSITION)

        self._enable_torque()
        self.motor_control_state = MotorControlType.POSITION_CONTROL