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Remove int32 convertion function, Set PID 1500, 0, 400 for elbow

This commit is contained in:
Remi Cadene 2024-07-12 11:24:29 +02:00
parent e615176845
commit 1993d29296
2 changed files with 12 additions and 27 deletions
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31
lerobot/common/robot_devices/motors/dynamixel.py
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@ -102,27 +102,6 @@ MODEL_CONTROL_TABLE = {
NUM_READ_RETRY = 10
# TODO(rcadene): find better namming for these functions
def uint32_to_int32(values: np.ndarray):
"""
Convert an unsigned 32-bit integer array to a signed 32-bit integer array.
"""
for i in range(len(values)):
if values[i] is not None and values[i] > 2147483647:
values[i] = values[i] - 4294967296
return values
def int32_to_uint32(values: np.ndarray):
"""
Convert a signed 32-bit integer array to an unsigned 32-bit integer array.
"""
for i in range(len(values)):
if values[i] is not None and values[i] < 0:
values[i] = values[i] + 4294967296
return values
def get_group_sync_key(data_name, motor_names):
group_key = f"{data_name}_" + "_".join(motor_names)
return group_key
@ -385,9 +364,9 @@ class DynamixelMotorsBus:
values = np.array(values)
# TODO(rcadene): explain why
# Convert to signed int to use range [-2048, 2048] for our motor positions.
if data_name in CONVERT_UINT32_TO_INT32_REQUIRED:
values = uint32_to_int32(values)
values = values.astype(np.int32)
if data_name in CALIBRATION_REQUIRED:
values = self.apply_calibration(values, motor_names)
@ -431,10 +410,6 @@ class DynamixelMotorsBus:
if data_name in CALIBRATION_REQUIRED:
values = self.revert_calibration(values, motor_names)
# TODO(rcadene): why dont we do it?
# if data_name in CONVERT_INT32_TO_UINT32_REQUIRED:
# values = int32_to_uint32(values)
values = values.tolist()
assert_same_address(self.model_ctrl_table, models, data_name)
@ -448,6 +423,8 @@ class DynamixelMotorsBus:
)
for idx, value in zip(motor_ids, values, strict=True):
# Note: No need to convert back into unsigned int, since this byte preprocessing
# already handles it for us.
if bytes == 1:
data = [
DXL_LOBYTE(DXL_LOWORD(value)),

8
lerobot/common/robot_devices/robots/koch.py
View File

@ -206,6 +206,7 @@ class KochRobotConfig:
class KochRobot:
# TODO(rcadene): Implement force feedback
"""Tau Robotics: https://tau-robotics.com
Example of highest frequency teleoperation without camera:
@ -356,6 +357,13 @@ class KochRobot:
for name in self.leader_arms:
self.leader_arms[name].set_calibration(calibration[f"leader_{name}"])
# Set better PID values to close the gap between recored states and actions
# TODO(rcadene): Implement an automatic procedure to set optimial PID values for each motor
for name in self.follower_arms:
self.follower_arms[name].write("Position_P_Gain", 1500, "elbow_flex")
self.follower_arms[name].write("Position_I_Gain", 0, "elbow_flex")
self.follower_arms[name].write("Position_D_Gain", 600, "elbow_flex")
# Enable torque on all motors of the follower arms
for name in self.follower_arms:
self.follower_arms[name].write("Torque_Enable", 1)