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Fix visualize_motors_bus

This commit is contained in:
Simon Alibert 2025-03-25 12:47:44 +01:00
parent 6ccf083127
commit 9644e2b086
1 changed files with 10 additions and 6 deletions
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16
lerobot/common/debugging/motors_bus.py
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@ -31,22 +31,26 @@ def visualize_motors_bus(motors_bus: MotorsBus):
motors_bus.connect() motors_bus.connect()
# Disable torque on all motors so you can move them freely by hand # Disable torque on all motors so you can move them freely by hand
values_dict = {idx: 0 for idx in motors_bus.motor_ids} for id_ in motors_bus.ids:
motors_bus.write("Torque_Enable", values_dict) motors_bus.write("Torque_Enable", id_, 0)
print("Torque disabled on all joints.") print("Torque disabled on all joints.")
try: try:
print("\nPress Ctrl+C to quit.\n") print("\nPress Ctrl+C to quit.\n")
while True: while True:
# Read *raw* positions (no calibration). # Read *raw* positions (no calibration).
raw_positions = motors_bus.read("Present_Position") start = time.perf_counter()
raw_positions = motors_bus.sync_read("Present_Position", raw_values=True)
read_s = time.perf_counter() - start
# # Read *already-homed* positions # # Read *already-homed* positions
# homed_positions = motor_bus.read("Present_Position") # homed_positions = motor_bus.read("Present_Position")
print(f"read_s: {read_s * 1e3:.2f}ms ({1 / read_s:.0f} Hz)")
for name, raw_ticks in raw_positions.items(): for name, raw_ticks in raw_positions.items():
idx = motors_bus.motors[name][0] idx = motors_bus.motors[name].id
model = motors_bus.motors[name][1] model = motors_bus.motors[name].model
# homed_val = homed_positions[i] # degrees or % if linear # homed_val = homed_positions[i] # degrees or % if linear
@ -70,7 +74,7 @@ def visualize_motors_bus(motors_bus: MotorsBus):
f"INV_TICKS={inv_ticks:4d} " f"INV_TICKS={inv_ticks:4d} "
) )
print("----------------------------------------------------") print("----------------------------------------------------")
time.sleep(0.25) # time.sleep(0.25)
except KeyboardInterrupt: except KeyboardInterrupt:
pass pass
finally: finally: