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fix setting motor id with new dataclass config #668

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Merged
pkooij merged 2 commits into from
Jan 31, 2025
Merged

fix setting motor id with new dataclass config #668

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7a52bcc
fix setting motor id with new dataclass config
pkooij Jan 31, 2025
c05083d
update import
pkooij Jan 31, 2025
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40 changes: 28 additions & 12 deletions lerobot/scripts/configure_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,37 +16,53 @@
import time


def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
def get_motor_bus_cls(brand: str) -> tuple:
if brand == "feetech":
from lerobot.common.robot_devices.motors.feetech import MODEL_BAUDRATE_TABLE
from lerobot.common.robot_devices.motors.configs import FeetechMotorsBusConfig
from lerobot.common.robot_devices.motors.feetech import (
SCS_SERIES_BAUDRATE_TABLE as SERIES_BAUDRATE_TABLE,
MODEL_BAUDRATE_TABLE,
SCS_SERIES_BAUDRATE_TABLE,
FeetechMotorsBus,
)
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus as MotorsBusClass

return FeetechMotorsBusConfig, FeetechMotorsBus, MODEL_BAUDRATE_TABLE, SCS_SERIES_BAUDRATE_TABLE

elif brand == "dynamixel":
from lerobot.common.robot_devices.motors.dynamixel import MODEL_BAUDRATE_TABLE
from lerobot.common.robot_devices.motors.configs import DynamixelMotorsBusConfig
from lerobot.common.robot_devices.motors.dynamixel import (
X_SERIES_BAUDRATE_TABLE as SERIES_BAUDRATE_TABLE,
MODEL_BAUDRATE_TABLE,
X_SERIES_BAUDRATE_TABLE,
DynamixelMotorsBus,
)
from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus as MotorsBusClass

return DynamixelMotorsBusConfig, DynamixelMotorsBus, MODEL_BAUDRATE_TABLE, X_SERIES_BAUDRATE_TABLE

else:
raise ValueError(
f"Currently we do not support this motor brand: {brand}. We currently support feetech and dynamixel motors."
)


def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
motor_bus_config_cls, motor_bus_cls, model_baudrate_table, series_baudrate_table = get_motor_bus_cls(
brand
)

# Check if the provided model exists in the model_baud_rate_table
if model not in MODEL_BAUDRATE_TABLE:
if model not in model_baudrate_table:
raise ValueError(
f"Invalid model '{model}' for brand '{brand}'. Supported models: {list(MODEL_BAUDRATE_TABLE.keys())}"
f"Invalid model '{model}' for brand '{brand}'. Supported models: {list(model_baudrate_table.keys())}"
)

# Setup motor names, indices, and models
motor_name = "motor"
motor_index_arbitrary = motor_idx_des # Use the motor ID passed via argument
motor_model = model # Use the motor model passed via argument

config = motor_bus_config_cls(port=port, motors={motor_name: (motor_index_arbitrary, motor_model)})

# Initialize the MotorBus with the correct port and motor configurations
motor_bus = MotorsBusClass(port=port, motors={motor_name: (motor_index_arbitrary, motor_model)})
motor_bus = motor_bus_cls(config=config)

# Try to connect to the motor bus and handle any connection-specific errors
try:
Expand All @@ -59,7 +75,7 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
# Motor bus is connected, proceed with the rest of the operations
try:
print("Scanning all baudrates and motor indices")
all_baudrates = set(SERIES_BAUDRATE_TABLE.values())
all_baudrates = set(series_baudrate_table.values())
motor_index = -1 # Set the motor index to an out-of-range value.

for baudrate in all_baudrates:
Expand Down Expand Up @@ -89,7 +105,7 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):

if baudrate != baudrate_des:
print(f"Setting its baudrate to {baudrate_des}")
baudrate_idx = list(SERIES_BAUDRATE_TABLE.values()).index(baudrate_des)
baudrate_idx = list(series_baudrate_table.values()).index(baudrate_des)

# The write can fail, so we allow retries
motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Baud_Rate", baudrate_idx)
Expand Down