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Move feetech table & cleanup

This commit is contained in:
Simon Alibert 2025-03-22 01:24:48 +01:00
parent 857f335be9
commit 9e34c1d731
4 changed files with 88 additions and 101 deletions
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7
lerobot/common/motors/feetech/__init__.py
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@ -1,8 +1,3 @@
from .feetech import FeetechMotorsBus
from .feetech_calibration import apply_feetech_offsets_from_calibration, run_full_arm_calibration
__all__ = [
"FeetechMotorsBus",
"apply_feetech_offsets_from_calibration",
"run_full_arm_calibration",
]
from .tables import *

100
lerobot/common/motors/feetech/feetech.py
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@ -15,6 +15,12 @@
from copy import deepcopy
from ..motors_bus import MotorsBus
from .tables import (
CALIBRATION_REQUIRED,
MODEL_BAUDRATE_TABLE,
MODEL_CONTROL_TABLE,
MODEL_RESOLUTION,
)
PROTOCOL_VERSION = 0
BAUDRATE = 1_000_000
@ -22,100 +28,6 @@ DEFAULT_TIMEOUT_MS = 1000
MAX_ID_RANGE = 252
# For joints in percentage (i.e. joints that move linearly like the prismatic joint of a gripper),
# their nominal range is [0, 100] %. For instance, for Aloha gripper, 0% is fully
# closed, and 100% is fully open. To account for slight calibration issue, we allow up to
# [-10, 110] until an error is raised.
LOWER_BOUND_LINEAR = -10
UPPER_BOUND_LINEAR = 110
HALF_TURN_DEGREE = 180
# See this link for STS3215 Memory Table:
# https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true
# data_name: (address, size_byte)
SCS_SERIES_CONTROL_TABLE = {
"Model": (3, 2),
"ID": (5, 1),
"Baud_Rate": (6, 1),
"Return_Delay": (7, 1),
"Response_Status_Level": (8, 1),
"Min_Angle_Limit": (9, 2),
"Max_Angle_Limit": (11, 2),
"Max_Temperature_Limit": (13, 1),
"Max_Voltage_Limit": (14, 1),
"Min_Voltage_Limit": (15, 1),
"Max_Torque_Limit": (16, 2),
"Phase": (18, 1),
"Unloading_Condition": (19, 1),
"LED_Alarm_Condition": (20, 1),
"P_Coefficient": (21, 1),
"D_Coefficient": (22, 1),
"I_Coefficient": (23, 1),
"Minimum_Startup_Force": (24, 2),
"CW_Dead_Zone": (26, 1),
"CCW_Dead_Zone": (27, 1),
"Protection_Current": (28, 2),
"Angular_Resolution": (30, 1),
"Offset": (31, 2),
"Mode": (33, 1),
"Protective_Torque": (34, 1),
"Protection_Time": (35, 1),
"Overload_Torque": (36, 1),
"Speed_closed_loop_P_proportional_coefficient": (37, 1),
"Over_Current_Protection_Time": (38, 1),
"Velocity_closed_loop_I_integral_coefficient": (39, 1),
"Torque_Enable": (40, 1),
"Acceleration": (41, 1),
"Goal_Position": (42, 2),
"Goal_Time": (44, 2),
"Goal_Speed": (46, 2),
"Torque_Limit": (48, 2),
"Lock": (55, 1),
"Present_Position": (56, 2),
"Present_Speed": (58, 2),
"Present_Load": (60, 2),
"Present_Voltage": (62, 1),
"Present_Temperature": (63, 1),
"Status": (65, 1),
"Moving": (66, 1),
"Present_Current": (69, 2),
# Not in the Memory Table
"Maximum_Acceleration": (85, 2),
}
SCS_SERIES_BAUDRATE_TABLE = {
0: 1_000_000,
1: 500_000,
2: 250_000,
3: 128_000,
4: 115_200,
5: 57_600,
6: 38_400,
7: 19_200,
}
CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
MODEL_CONTROL_TABLE = {
"scs_series": SCS_SERIES_CONTROL_TABLE,
"sts3215": SCS_SERIES_CONTROL_TABLE,
}
MODEL_RESOLUTION = {
"scs_series": 4096,
"sts3215": 4096,
}
MODEL_BAUDRATE_TABLE = {
"scs_series": SCS_SERIES_BAUDRATE_TABLE,
"sts3215": SCS_SERIES_BAUDRATE_TABLE,
}
# High number of retries is needed for feetech compared to dynamixel motors.
NUM_READ_RETRY = 20
NUM_WRITE_RETRY = 20
class FeetechMotorsBus(MotorsBus):
"""

80
lerobot/common/motors/feetech/tables.py Normal file
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@ -0,0 +1,80 @@
# See this link for STS3215 Memory Table:
# https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true
# data_name: (address, size_byte)
SCS_SERIES_CONTROL_TABLE = {
"Model": (3, 2),
"ID": (5, 1),
"Baud_Rate": (6, 1),
"Return_Delay": (7, 1),
"Response_Status_Level": (8, 1),
"Min_Angle_Limit": (9, 2),
"Max_Angle_Limit": (11, 2),
"Max_Temperature_Limit": (13, 1),
"Max_Voltage_Limit": (14, 1),
"Min_Voltage_Limit": (15, 1),
"Max_Torque_Limit": (16, 2),
"Phase": (18, 1),
"Unloading_Condition": (19, 1),
"LED_Alarm_Condition": (20, 1),
"P_Coefficient": (21, 1),
"D_Coefficient": (22, 1),
"I_Coefficient": (23, 1),
"Minimum_Startup_Force": (24, 2),
"CW_Dead_Zone": (26, 1),
"CCW_Dead_Zone": (27, 1),
"Protection_Current": (28, 2),
"Angular_Resolution": (30, 1),
"Offset": (31, 2),
"Mode": (33, 1),
"Protective_Torque": (34, 1),
"Protection_Time": (35, 1),
"Overload_Torque": (36, 1),
"Speed_closed_loop_P_proportional_coefficient": (37, 1),
"Over_Current_Protection_Time": (38, 1),
"Velocity_closed_loop_I_integral_coefficient": (39, 1),
"Torque_Enable": (40, 1),
"Acceleration": (41, 1),
"Goal_Position": (42, 2),
"Goal_Time": (44, 2),
"Goal_Speed": (46, 2),
"Torque_Limit": (48, 2),
"Lock": (55, 1),
"Present_Position": (56, 2),
"Present_Speed": (58, 2),
"Present_Load": (60, 2),
"Present_Voltage": (62, 1),
"Present_Temperature": (63, 1),
"Status": (65, 1),
"Moving": (66, 1),
"Present_Current": (69, 2),
# Not in the Memory Table
"Maximum_Acceleration": (85, 2),
}
SCS_SERIES_BAUDRATE_TABLE = {
0: 1_000_000,
1: 500_000,
2: 250_000,
3: 128_000,
4: 115_200,
5: 57_600,
6: 38_400,
7: 19_200,
}
MODEL_CONTROL_TABLE = {
"scs_series": SCS_SERIES_CONTROL_TABLE,
"sts3215": SCS_SERIES_CONTROL_TABLE,
}
MODEL_RESOLUTION = {
"scs_series": 4096,
"sts3215": 4096,
}
MODEL_BAUDRATE_TABLE = {
"scs_series": SCS_SERIES_BAUDRATE_TABLE,
"sts3215": SCS_SERIES_BAUDRATE_TABLE,
}
CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]

2
tests/mocks/mock_feetech.py
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@ -6,7 +6,7 @@ import scservo_sdk as scs
import serial
from mock_serial import MockSerial
from lerobot.common.motors.feetech.feetech import SCS_SERIES_CONTROL_TABLE
from lerobot.common.motors.feetech.tables import SCS_SERIES_CONTROL_TABLE
# https://files.waveshare.com/upload/2/27/Communication_Protocol_User_Manual-EN%28191218-0923%29.pdf
INSTRUCTION_TYPES = {