Merge 32e1d1c3ac into 32037347dc

example_config.json

@@ -1,4 +1,5 @@
 {
+    "serial_port": "/dev/ttyACM0",
     "start_paused": false,
     "imu_upside_down": false,
     "phase_frequency_factor_offset": 0.0,

mini_bdx_runtime/mini_bdx_runtime/duck_config.py

@@ -46,6 +46,7 @@ class DuckConfig:
                 print("Exiting...")
                 exit(1)
 
+        self.serial_port = self.json_config.get("serial_port", "/dev/ttyACM0")
         self.start_paused = self.json_config.get("start_paused", False)
         self.imu_upside_down = self.json_config.get("imu_upside_down", False)
         self.phase_frequency_factor_offset = self.json_config.get(

mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py

@@ -6,7 +6,7 @@ from mini_bdx_runtime.duck_config import DuckConfig
 
 
 class HWI:
-    def __init__(self, duck_config: DuckConfig, usb_port: str = "/dev/ttyACM0"):
+    def __init__(self, duck_config: DuckConfig):
 
         self.duck_config = duck_config
 
@@ -74,7 +74,7 @@ class HWI:
         self.kds = np.ones(len(self.joints)) * 0  # default kd
         self.low_torque_kps = np.ones(len(self.joints)) * 2
 
-        self.io = rustypot.feetech(usb_port, 1000000)
+        self.io = rustypot.feetech(self.duck_config.serial_port, 1000000)
 
     def set_kps(self, kps):
         self.kps = kps

mini_bdx_runtime/mini_bdx_runtime/utils.py

@@ -0,0 +1,51 @@
+import serial.tools.list_ports
+from pypot.feetech import FeetechSTS3215IO
+
+DEVICE_IDS = [
+    (0x1A86, 0x55D3),  # Example device 1
+    # Add more (vendor_id, product_id) pairs here as needed
+]
+
+FALLBACK_PORT = "/dev/ttyACM0"
+
+
+def get_port():
+    port = None
+    auto_port = auto_detect_port()
+    if auto_port is None:
+        print(
+            f"Device not auto-detected. Attempting connection using fallback port {FALLBACK_PORT}."
+        )
+        port = FALLBACK_PORT
+    else:
+        port = auto_port
+
+    # Attempt to connect and catch any connection errors.
+    try:
+        FeetechSTS3215IO(port)
+        return port
+    except Exception as exc:
+        message = f"Error connecting to the motor using port {port}: {exc}. Please check your connection.\n"
+        # If the fallback port was used, advise the user with additional usage information.
+        if port == FALLBACK_PORT:
+            message += f" If your device is not connected via {FALLBACK_PORT}, please specify the correct port using the '--port' argument (e.g., --port /dev/ttyUSB0)."
+        else:
+            message += " If you believe your device is connected on a different port, try specifying it using the '--port <PORT>' argument."
+        print(message)
+    return None
+
+
+def auto_detect_port():
+    """
+    Scans available serial ports and returns the port name for the first device
+    matching any of the given (vendor_id, product_id) pairs.
+    """
+    ports = list(serial.tools.list_ports.comports())
+    for port in ports:
+        for vendor_id, product_id in DEVICE_IDS:
+            if port.vid == vendor_id and port.pid == product_id:
+                print(
+                    f"Found device on port: {port.device} (VID: {hex(vendor_id)}, PID: {hex(product_id)})"
+                )
+                return port.device
+    return None

scripts/configure_motor.py

@@ -1,27 +1,41 @@
 from pypot.feetech import FeetechSTS3215IO
 import argparse
 import time
+from mini_bdx_runtime.utils import get_port
+import tqdm
 
 DEFAULT_ID = 1  # A brand new motor should have id 1
 
+# Parse arguments. This allows an override if you supply --port.
 parser = argparse.ArgumentParser()
 parser.add_argument(
     "--port",
-    help="The port the motor is connected to. Default is /dev/ttyACM0. Use `ls /dev/tty* | grep usb` to find the port.",
-    default="/dev/ttyACM0",
+    help=(
+        "The port the motor is connected to. If not specified, "
+        "the script will try to auto-detect the port using provided USB IDs or "
+        "fall back to /dev/ttyACM0."
+    ),
+    default=None,
 )
 parser.add_argument("--id", help="The id to set to the motor.", type=str, required=True)
 args = parser.parse_args()
-io = FeetechSTS3215IO(args.port)
+
+port = args.port
+# If no port is provided, try to auto-detect using the USB id info.
+if port is None:
+    port = get_port()
+if port is None:
+    exit()
+
+
+io = FeetechSTS3215IO(port)
 
 current_id = DEFAULT_ID
 
 
 def scan():
     id = None
-    for i in range(255):
-
-        print(f"scanning for id {i} ...")
+    for i in tqdm.tqdm(range(255), desc="Scanning ...", unit="id"):
         try:
             io.get_present_position([i])
             id = i
@@ -39,6 +53,7 @@ except Exception:
         f"Could not find motor with default id ({DEFAULT_ID}). Scanning for motor ..."
     )
     res = scan()
+    print("ID :", res)
     if res is not None:
         current_id = res
     else:
@@ -46,8 +61,6 @@ except Exception:
         exit()
 
 
-# print("current id: ", current_id)
-
 kp = io.get_P_coefficient([current_id])
 ki = io.get_I_coefficient([current_id])
 kd = io.get_D_coefficient([current_id])
@@ -55,11 +68,6 @@ max_acceleration = io.get_maximum_acceleration([current_id])
 acceleration = io.get_acceleration([current_id])
 mode = io.get_mode([current_id])
 
-# print(f"PID : {kp}, {ki}, {kd}")
-# print(f"max_acceleration: {max_acceleration}")
-# print(f"acceleration: {acceleration}")
-# print(f"mode: {mode}")
-
 io.set_lock({current_id: 0})
 io.set_mode({current_id: 0})
 io.set_maximum_acceleration({current_id: 0})
@@ -72,7 +80,13 @@ io.change_id({current_id: int(args.id)})
 current_id = int(args.id)
 
 time.sleep(1)
+print("==")
+res = input("WARNING, the motor will move to its zero position. Continue ? ([Y]/n)")
+if res.lower() != "y" and res.lower() != "":
+    print("Exiting ...")
+    exit()
 
+print("==")
 io.set_goal_position({current_id: 0})
 
 time.sleep(1)

scripts/v2_rl_walk_mujoco.py

@@ -26,7 +26,6 @@ class RLWalk:
         self,
         onnx_model_path: str,
         duck_config_path: str = f"{HOME_DIR}/duck_config.json",
-        serial_port: str = "/dev/ttyACM0",
         control_freq: float = 50,
         pid=[30, 0, 0],
         action_scale=0.25,
@@ -66,7 +65,7 @@ class RLWalk:
                 self.control_freq, cutoff_frequency
             )
 
-        self.hwi = HWI(self.duck_config, serial_port)
+        self.hwi = HWI(self.duck_config)
 
         self.start()
 

setup.cfg

@@ -24,6 +24,7 @@ install_requires =
     pygame==2.6.0
     pypot @ git+https://github.com/pollen-robotics/pypot@support-feetech-sts3215
     openai==1.70.0
+    tqdm
 
     # adafruit_extended_bus