104 lines
3.8 KiB
Plaintext
104 lines
3.8 KiB
Plaintext
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test and test4
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installed serial and opencv
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after pip install -e .
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pip install -e ".[feetech]"
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robot.hand_bus.read("Present_Position")
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array([ 349, 799, 1000, 1004, 508, 503, 673, 608, 791, 390, 552,
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506, 600, 565, 428, 379], dtype=int32)
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robot.hand_bus.write("Goal_Position",[349,799,500,500,508,503,673,608,791,390,552,506,600,565,428,379])
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robot.arm_bus.write("Goal_Position", [1825, 2045, 2010, 2035, 1414, 1800, 1615])
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robot.arm_bus.read("Present_Position")
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robot.arm_bus.write("Goal_Position", [1500], ["elbow_flex"])
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robot.arm_bus.write("Goal_Position", [2000], ["wrist_yaw"])
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ranges: [600-2300, 1500-2300, 1300-2800, 1000-2500, 600-2800,400-1700, 1300-2300]
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shoulder_up,
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shoulder forward,
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shoulder yaw,
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elbow_flex
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wrist_yaw,
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wrist_pitch,
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wrist_roll
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COM18
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C:/Users/Lenovo/AppData/Local/Programs/Python/Python310/python.exe c:/Users/Lenovo/Documents/HuggingFace/lerobot/examples/test4.py
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wrist pitch is fucked
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so the wrist motor was fucked
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and we didnt know which one it was because
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if the chain hjas an issue we dont know how to locate whihc motor is at fault (cables are hard to remove)
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to calibrate:
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python lerobot/scripts/configure_motor.py \
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--port /dev/ttyACM1 \
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--brand feetech \
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--model sts3250 \
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--baudrate 1000000 \
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--ID 2
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python lerobot/scripts/configure_motor.py \
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--port /dev/ttyACM0 \
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--brand feetech \
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--model sm8512bl \
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--baudrate 115200 \
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--ID 1
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python lerobot/scripts/configure_motor.py \
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--port /dev/ttyACM1 \
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--brand feetech \
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--model scs0009 \
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--baudrate 1000000 \
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--ID 30
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why are the motors beeping?
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#interpolate between start and end pos
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robot.arm_bus.write("Goal_Position", [int((i*interp+j*(1-interp))) for i, j in zip(arm_calibration["start_pos"], arm_calibration["end_pos"])])
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control maj M to look for stuff
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set calibration is useless
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move the joints to that position too
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/home/nepyope/Desktop/HuggingFace/lerobot/lerobot/common/robot_devices/motors/feetech.py
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theres clearly some lag, and its probably because of an out of range issue
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# hand_calibration = robot.get_hand_calibration()
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# joint = input("Enter joint name: ")
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# j1 = f"{joint}_pinky_side"
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# j2 = f"{joint}_thumb_side"
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# encoder = EncoderReader("/dev/ttyUSB0", 115200)
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# start_angle1 = hand_calibration['start_pos'][hand_calibration['motor_names'].index(j1)]
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# end_angle1 = hand_calibration['end_pos'][hand_calibration['motor_names'].index(j1)]
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# start_angle2 = hand_calibration['start_pos'][hand_calibration['motor_names'].index(j2)]
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# end_angle2 = hand_calibration['end_pos'][hand_calibration['motor_names'].index(j2)]
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# # start_angle = shoulder_calibration['start_pos'][shoulder_calibration['motor_names'].index(joint)]
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# # end_angle = shoulder_calibration['end_pos'][shoulder_calibration['motor_names'].index(joint)]
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# while True:
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# angle1 = int(start_angle1+(end_angle1-start_angle1)*encoder.read()/1000)
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# angle2 = int(start_angle2+(end_angle2-start_angle2)*encoder.read()/1000)
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# robot.hand_bus.write("Goal_Position",angle1, [j1])
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# robot.hand_bus.write("Goal_Position",angle2, [j2])
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# print(angle1, angle2)
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# time.sleep(0.1)
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# print(robot.hand_bus.find_motor_indices())
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# exit()
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