From fdcbce0a06be02d4ac45f31d5412b2bfffeccad8 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 12:47:49 +0700 Subject: [PATCH 01/17] feat(lumi-final): update calibration and recordings for lumi_final mechanics - Replace follower/leader calibration JSONs with lumi_final servo values (homing offsets and range min/max from /home/orangepi/.cache) - Scale wrist_pitch in 7 recordings by 0.461 to fit lumi_final narrower physical range (55.8 degrees vs 113 degrees on original hardware) - Update calibration.md: document per-device cache paths and deploy commands for orangepi-user devices --- lelamp/calibration/calibration.md | 31 +- .../robots/lelamp_follower/lelamp.json | 30 +- .../teleoperators/lelamp_leader/lelamp.json | 32 +- lelamp/recordings/goodbye.csv | 242 +- lelamp/recordings/idle.csv | 3604 ++++++++--------- lelamp/recordings/laugh.csv | 182 +- lelamp/recordings/music_groove.csv | 404 +- lelamp/recordings/music_jazz.csv | 542 +-- lelamp/recordings/nod.csv | 122 +- lelamp/recordings/tracking.csv | 504 +-- 10 files changed, 2852 insertions(+), 2841 deletions(-) diff --git a/lelamp/calibration/calibration.md b/lelamp/calibration/calibration.md index abcf7a636..351c7f3dd 100644 --- a/lelamp/calibration/calibration.md +++ b/lelamp/calibration/calibration.md @@ -4,15 +4,19 @@ LeLamp uses 5x Feetech STS3215 servos controlled via the `lerobot` library. Each ## Calibration files -On the Pi, lerobot looks for calibration at: +lerobot looks for calibration at `~/.cache/huggingface/lerobot/calibration/` for the user running the service: ``` -/root/.cache/huggingface/lerobot/calibration/ +/.cache/huggingface/lerobot/calibration/ ├── robots/lelamp_follower/lelamp.json └── teleoperators/lelamp_leader/lelamp.json ``` -The path resolves from `~/.cache/huggingface/lerobot/calibration/` — since the service runs as **root**, it uses `/root/`. +| Device | Service user | Calibration path | +|--------|-------------|-----------------| +| lumi2 / lumi3 (RPi 5) | `root` | `/root/.cache/huggingface/lerobot/calibration/` | +| lumi4 (OrangePi 4P) | `root` | `/root/.cache/huggingface/lerobot/calibration/` | +| lumi_final (OrangePi) | `orangepi` | `/home/orangepi/.cache/huggingface/lerobot/calibration/` | Each JSON contains per-servo values: @@ -34,26 +38,33 @@ Each JSON contains per-servo values: | 4 | `wrist_roll` | Wrist rotation | | 5 | `wrist_pitch` | Wrist tilt | -## Deploy to a new Pi (copy existing calibration) +## Deploy to a device (copy existing calibration) -If the new Pi uses the same servo hardware as an already-calibrated lamp, copy the calibration files: +If the device uses the same servo hardware as an already-calibrated lamp, copy the calibration files. +**Root-user devices (lumi2, lumi3, lumi4):** ```bash -# On the new Pi, create the directories sudo mkdir -p /root/.cache/huggingface/lerobot/calibration/robots/lelamp_follower sudo mkdir -p /root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader - -# Copy from this repo sudo cp calibration/robots/lelamp_follower/lelamp.json \ /root/.cache/huggingface/lerobot/calibration/robots/lelamp_follower/lelamp.json - sudo cp calibration/teleoperators/lelamp_leader/lelamp.json \ /root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp.json ``` +**orangepi-user devices (lumi_final):** +```bash +mkdir -p /home/orangepi/.cache/huggingface/lerobot/calibration/robots/lelamp_follower +mkdir -p /home/orangepi/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader +cp calibration/robots/lelamp_follower/lelamp.json \ + /home/orangepi/.cache/huggingface/lerobot/calibration/robots/lelamp_follower/lelamp.json +cp calibration/teleoperators/lelamp_leader/lelamp.json \ + /home/orangepi/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp.json +``` + Then restart the lelamp service. The servos will use the copied calibration values. -> **Note:** Copied calibration will be close but may not be exact — each servo has slightly different mechanical offsets. For precise movement, run a fresh calibration (see below). +> **Note:** The calibration files in this branch (`feat/lumi-final`) are tuned for **lumi_final's** servo hardware. The `wrist_pitch` recordings are scaled to ±55.8° to match lumi_final's physical range (vs ±113° on the original hardware). ## Run fresh calibration on a Pi diff --git a/lelamp/calibration/robots/lelamp_follower/lelamp.json b/lelamp/calibration/robots/lelamp_follower/lelamp.json index 50dcfa75e..61ee8b034 100644 --- a/lelamp/calibration/robots/lelamp_follower/lelamp.json +++ b/lelamp/calibration/robots/lelamp_follower/lelamp.json @@ -2,36 +2,36 @@ "base_yaw": { "id": 1, "drive_mode": 0, - "homing_offset": -962, - "range_min": 574, - "range_max": 3052 + "homing_offset": 1966, + "range_min": 788, + "range_max": 3221 }, "base_pitch": { "id": 2, "drive_mode": 0, - "homing_offset": -475, - "range_min": 1516, - "range_max": 2468 + "homing_offset": -309, + "range_min": 1395, + "range_max": 3642 }, "elbow_pitch": { "id": 3, "drive_mode": 0, - "homing_offset": -1697, - "range_min": 1184, - "range_max": 2620 + "homing_offset": 704, + "range_min": 1464, + "range_max": 3065 }, "wrist_roll": { "id": 4, "drive_mode": 0, - "homing_offset": 912, - "range_min": 897, - "range_max": 3013 + "homing_offset": 1947, + "range_min": 970, + "range_max": 3187 }, "wrist_pitch": { "id": 5, "drive_mode": 0, - "homing_offset": -587, - "range_min": 1750, + "homing_offset": -1858, + "range_min": 2041, "range_max": 3310 } -} \ No newline at end of file +} diff --git a/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json b/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json index ecabac6af..ef2f4211f 100644 --- a/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json +++ b/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json @@ -2,36 +2,36 @@ "base_yaw": { "id": 1, "drive_mode": 0, - "homing_offset": -1064, - "range_min": 963, - "range_max": 3177 + "homing_offset": 1913, + "range_min": 840, + "range_max": 3267 }, "base_pitch": { "id": 2, "drive_mode": 0, - "homing_offset": -586, - "range_min": 1770, - "range_max": 2596 + "homing_offset": -313, + "range_min": 1401, + "range_max": 3562 }, "elbow_pitch": { "id": 3, "drive_mode": 0, - "homing_offset": -1554, - "range_min": 673, - "range_max": 2598 + "homing_offset": 603, + "range_min": 1565, + "range_max": 4075 }, "wrist_roll": { "id": 4, "drive_mode": 0, - "homing_offset": 865, - "range_min": 1038, - "range_max": 2912 + "homing_offset": 1979, + "range_min": 938, + "range_max": 3135 }, "wrist_pitch": { "id": 5, "drive_mode": 0, - "homing_offset": -723, - "range_min": 1651, - "range_max": 3354 + "homing_offset": -1861, + "range_min": 1982, + "range_max": 3468 } -} \ No newline at end of file +} diff --git a/lelamp/recordings/goodbye.csv b/lelamp/recordings/goodbye.csv index d6f77c049..3845d5ca0 100644 --- a/lelamp/recordings/goodbye.csv +++ b/lelamp/recordings/goodbye.csv @@ -1,121 +1,121 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos -0.0,-0.0,0.0,-0.0,-0.0,-0.0 -0.03333333333333333,-0.0,-0.145773,-0.058076,-0.0,0.147177 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+8333,-40.0,0.0,-10.0,-13.841245603032203,30.0 +8367,-40.0,0.0,-10.0,-13.841245603032203,30.0 +8400,-40.0,0.0,-10.0,-13.841245603032203,30.0 From 11a1587202822ab48e5ca8bf079478d1cbb0e5c0 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 13:05:39 +0700 Subject: [PATCH 02/17] feat(lumi-final): clamp hardcoded aim/rest positions to lumi_final joint limits AIM_WALL wrist_pitch -60 -> -55.78 deg AIM_DOWN elbow_pitch 90 -> 70.4 deg, wrist_pitch -90 -> -55.78 deg servo.py rest_pos elbow_pitch 90 -> 70.4 deg --- lelamp/presets.py | 4 ++-- lelamp/routes/servo.py | 7 ++++--- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/lelamp/presets.py b/lelamp/presets.py index 3c93eafbe..deafe55a6 100644 --- a/lelamp/presets.py +++ b/lelamp/presets.py @@ -170,10 +170,10 @@ AIM_PRESETS = { AIM_CENTER: {"base_yaw.pos": 3.0, "base_pitch.pos": -20.0, "elbow_pitch.pos": 32.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 0.0}, AIM_DESK: {"base_yaw.pos": 3.0, "base_pitch.pos": 5.0, "elbow_pitch.pos": 20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 40.0}, - AIM_WALL: {"base_yaw.pos": 3.0, "base_pitch.pos": 5.0, "elbow_pitch.pos": -20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -60.0}, + AIM_WALL: {"base_yaw.pos": 3.0, "base_pitch.pos": 5.0, "elbow_pitch.pos": -20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -55.78}, AIM_LEFT: {"base_yaw.pos": -90.0, "base_pitch.pos": -30.0, "elbow_pitch.pos": 57.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 18.0}, AIM_RIGHT: {"base_yaw.pos": 90.0, "base_pitch.pos": -30.0, "elbow_pitch.pos": 57.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 18.0}, AIM_UP: {"base_yaw.pos": 3.0, "base_pitch.pos": 10.0, "elbow_pitch.pos": -15.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 25.0}, - AIM_DOWN: {"base_yaw.pos": 3.0, "base_pitch.pos": -90.0, "elbow_pitch.pos": 90.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -90.0}, + AIM_DOWN: {"base_yaw.pos": 3.0, "base_pitch.pos": -90.0, "elbow_pitch.pos": 70.4, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -55.78}, AIM_USER: {"base_yaw.pos": 0.0, "base_pitch.pos": 0.0, "elbow_pitch.pos": 0.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -45.0}, } diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index 0cb208b91..a3bcfbef9 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -303,12 +303,13 @@ def release_servos(): state.animation_service._running.clear() if state.animation_service._event_thread and state.animation_service._event_thread.is_alive(): state.animation_service._event_thread.join(timeout=3.0) - # Fully folded pose (elbow at max 90°) so the body is already at the - # mechanical floor when torque is cut — no remaining gap to drop. + # Fully folded pose so the body is already at the mechanical floor + # when torque is cut — no remaining gap to drop. + # elbow_pitch capped at 70.4° (lumi_final physical limit). rest_pos = { "base_yaw.pos": 0.0, "base_pitch.pos": -90.0, - "elbow_pitch.pos": 90.0, + "elbow_pitch.pos": 70.4, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 0.0, } From bf71c4e3d4782362c814f74dbdff3eb2606808a3 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 15:07:04 +0700 Subject: [PATCH 03/17] feat(lumi-final): update calibration and recordings after re-calibration New follower limits from fresh calibration: wrist_pitch +-47.82 deg (was +-55.78) base_pitch +-61.93 deg (was +-98.8) elbow_pitch +-62.90 deg (was +-70.4) - Re-scale wrist_pitch in 7 recordings from originals (scale 0.3956) - Clamp AIM_DOWN base_pitch -90->-61.93, elbow_pitch 70.4->62.9 - Clamp AIM_WALL/AIM_DOWN wrist_pitch to +-47.82 - Clamp rest_pos base_pitch and elbow_pitch to new limits --- .../robots/lelamp_follower/lelamp.json | 30 +- .../teleoperators/lelamp_leader/lelamp.json | 30 +- lelamp/presets.py | 4 +- lelamp/recordings/goodbye.csv | 238 +- lelamp/recordings/idle.csv | 3602 ++++++++--------- lelamp/recordings/laugh.csv | 148 +- lelamp/recordings/music_groove.csv | 402 +- lelamp/recordings/music_jazz.csv | 432 +- lelamp/recordings/nod.csv | 114 +- lelamp/recordings/tracking.csv | 504 +-- lelamp/routes/servo.py | 6 +- 11 files changed, 2755 insertions(+), 2755 deletions(-) diff --git a/lelamp/calibration/robots/lelamp_follower/lelamp.json b/lelamp/calibration/robots/lelamp_follower/lelamp.json index 61ee8b034..e78bc638b 100644 --- a/lelamp/calibration/robots/lelamp_follower/lelamp.json +++ b/lelamp/calibration/robots/lelamp_follower/lelamp.json @@ -2,36 +2,36 @@ "base_yaw": { "id": 1, "drive_mode": 0, - "homing_offset": 1966, - "range_min": 788, - "range_max": 3221 + "homing_offset": 1928, + "range_min": 828, + "range_max": 3255 }, "base_pitch": { "id": 2, "drive_mode": 0, - "homing_offset": -309, - "range_min": 1395, - "range_max": 3642 + "homing_offset": -381, + "range_min": 1608, + "range_max": 3017 }, "elbow_pitch": { "id": 3, "drive_mode": 0, - "homing_offset": 704, - "range_min": 1464, - "range_max": 3065 + "homing_offset": 518, + "range_min": 1651, + "range_max": 3082 }, "wrist_roll": { "id": 4, "drive_mode": 0, - "homing_offset": 1947, - "range_min": 970, - "range_max": 3187 + "homing_offset": 1962, + "range_min": 976, + "range_max": 3164 }, "wrist_pitch": { "id": 5, "drive_mode": 0, - "homing_offset": -1858, - "range_min": 2041, - "range_max": 3310 + "homing_offset": -1837, + "range_min": 2044, + "range_max": 3132 } } diff --git a/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json b/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json index ef2f4211f..f3b43c164 100644 --- a/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json +++ b/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json @@ -2,36 +2,36 @@ "base_yaw": { "id": 1, "drive_mode": 0, - "homing_offset": 1913, - "range_min": 840, - "range_max": 3267 + "homing_offset": 1909, + "range_min": 974, + "range_max": 3142 }, "base_pitch": { "id": 2, "drive_mode": 0, - "homing_offset": -313, - "range_min": 1401, - "range_max": 3562 + "homing_offset": -556, + "range_min": 1645, + "range_max": 3367 }, "elbow_pitch": { "id": 3, "drive_mode": 0, - "homing_offset": 603, - "range_min": 1565, - "range_max": 4075 + "homing_offset": 431, + "range_min": 1741, + "range_max": 3325 }, "wrist_roll": { "id": 4, "drive_mode": 0, - "homing_offset": 1979, - "range_min": 938, - "range_max": 3135 + "homing_offset": 1957, + "range_min": 924, + "range_max": 3071 }, "wrist_pitch": { "id": 5, "drive_mode": 0, - "homing_offset": -1861, - "range_min": 1982, - "range_max": 3468 + "homing_offset": -1794, + "range_min": 1828, + "range_max": 3360 } } diff --git a/lelamp/presets.py b/lelamp/presets.py index deafe55a6..503cbfea8 100644 --- a/lelamp/presets.py +++ b/lelamp/presets.py @@ -170,10 +170,10 @@ AIM_PRESETS = { AIM_CENTER: {"base_yaw.pos": 3.0, "base_pitch.pos": -20.0, "elbow_pitch.pos": 32.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 0.0}, AIM_DESK: {"base_yaw.pos": 3.0, "base_pitch.pos": 5.0, "elbow_pitch.pos": 20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 40.0}, - AIM_WALL: {"base_yaw.pos": 3.0, "base_pitch.pos": 5.0, "elbow_pitch.pos": -20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -55.78}, + AIM_WALL: {"base_yaw.pos": 3.0, "base_pitch.pos": 5.0, "elbow_pitch.pos": -20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -47.82}, AIM_LEFT: {"base_yaw.pos": -90.0, "base_pitch.pos": -30.0, "elbow_pitch.pos": 57.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 18.0}, AIM_RIGHT: {"base_yaw.pos": 90.0, "base_pitch.pos": -30.0, "elbow_pitch.pos": 57.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 18.0}, AIM_UP: {"base_yaw.pos": 3.0, "base_pitch.pos": 10.0, "elbow_pitch.pos": -15.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 25.0}, - AIM_DOWN: {"base_yaw.pos": 3.0, "base_pitch.pos": -90.0, "elbow_pitch.pos": 70.4, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -55.78}, + AIM_DOWN: {"base_yaw.pos": 3.0, "base_pitch.pos": -61.93, "elbow_pitch.pos": 62.9, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -47.82}, AIM_USER: 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+7967,-40,0,-10,-11.867041147438169,30.0 +8000,-40,0,-10,-11.867041147438169,30.0 +8033,-40,0,-10,-11.867041147438169,30.0 +8067,-40,0,-10,-11.867041147438169,30.0 +8100,-40,0,-10,-11.867041147438169,30.0 +8133,-40,0,-10,-11.867041147438169,30.0 +8167,-40,0,-10,-11.867041147438169,30.0 +8200,-40,0,-10,-11.867041147438169,30.0 +8233,-40,0,-10,-11.867041147438169,30.0 +8267,-40,0,-10,-11.867041147438169,30.0 +8300,-40,0,-10,-11.867041147438169,30.0 +8333,-40,0,-10,-11.867041147438169,30.0 +8367,-40,0,-10,-11.867041147438169,30.0 +8400,-40,0,-10,-11.867041147438169,30.0 diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index a3bcfbef9..cf62e3f03 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -305,11 +305,11 @@ def release_servos(): state.animation_service._event_thread.join(timeout=3.0) # Fully folded pose so the body is already at the mechanical floor # when torque is cut — no remaining gap to drop. - # elbow_pitch capped at 70.4° (lumi_final physical limit). + # base_pitch/elbow_pitch capped to lumi_final physical limits. rest_pos = { "base_yaw.pos": 0.0, - "base_pitch.pos": -90.0, - "elbow_pitch.pos": 70.4, + "base_pitch.pos": -61.93, + "elbow_pitch.pos": 62.9, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 0.0, } From 6530952ece806751776bbba6e37f72a0b7eb5a95 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 15:50:38 +0700 Subject: [PATCH 04/17] fix(servo): slow resume transition by 2x and sync arm position on resume After release, torque is disabled and the arm falls to a physical position that differs from the last known _current_state. Without syncing hardware state, the first interpolation step snaps the arm to the stale rest_pos. Also doubles the interpolation duration (10s vs 5s) on resume so the arm eases back into idle at half speed as requested. --- lelamp/routes/servo.py | 5 +++++ lelamp/service/motors/animation_service.py | 11 +++++++++-- 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index cf62e3f03..b1ce223ce 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -209,6 +209,11 @@ def resume_servos(): ) state.animation_service._event_thread.start() state.logger.info("Animation event loop restarted via /servo/resume") + # Sync actual arm position (arm may have been moved while torque was off after release/zero). + # Without this, _current_state is stale and the first interpolation step snaps the arm. + state.animation_service._sync_state_from_hardware() + # Use 2x interpolation duration for resume so the arm eases in at half speed. + state.animation_service._resume_duration = state.animation_service.duration * 2.0 state.animation_service.dispatch(SERVO_CMD_PLAY, state.animation_service.idle_recording) state.logger.info("Servo resumed from zero-hold mode") return {"status": "ok"} diff --git a/lelamp/service/motors/animation_service.py b/lelamp/service/motors/animation_service.py index 0a9e146b5..2d1554d19 100644 --- a/lelamp/service/motors/animation_service.py +++ b/lelamp/service/motors/animation_service.py @@ -77,6 +77,10 @@ def __init__(self, port: str, lamp_id: str, fps: int = 30, duration: float = 5.0 # Serial bus lock — all bus access (read/write/ping) must hold this lock self.bus_lock = threading.RLock() + # One-shot duration override for the next _handle_play interpolation (resume slow-start). + # Set before dispatch; consumed and cleared inside _handle_play. + self._resume_duration: Optional[float] = None + # Freeze flag — when set, _continue_playback() skips servo writes so camera can capture a stable frame self._frozen = threading.Event() @@ -274,9 +278,12 @@ def _handle_play(self, recording_name: str): self._current_actions = actions self._current_frame_index = 0 - # If we have a current state, set up interpolation to the first frame + # If we have a current state, set up interpolation to the first frame. + # _resume_duration overrides self.duration once (set by resume endpoint for slow-start). if self._current_state is not None: - self._interpolation_frames = int(self.duration * self.fps) + effective_duration = self._resume_duration if self._resume_duration is not None else self.duration + self._resume_duration = None + self._interpolation_frames = int(effective_duration * self.fps) self._interpolation_target = actions[0] else: self._interpolation_frames = 0 From 1275a2934d1c636eb9845af0a37699c99f03eefc Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 16:03:18 +0700 Subject: [PATCH 05/17] fix(servo): fix resume interpolation denominator and eliminate race condition MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The previous attempt set _interpolation_frames=300 (2x duration) but the progress formula kept dividing by self.duration*fps=150, causing progress to be negative (clamped to 0) for the first 150 frames. Result: arm froze for 5 seconds then moved at full speed — perceived as a huge jump. Fix: store _interpolation_total_frames alongside _interpolation_frames so the denominator always matches the intended total, regardless of duration. Also reorder resume_servos to sync hardware state and queue the play event before starting the event thread, eliminating the race where _continue_playback could overwrite _current_state before _handle_play reads it. --- lelamp/routes/servo.py | 16 ++++++++++------ lelamp/service/motors/animation_service.py | 15 +++++++++++---- 2 files changed, 21 insertions(+), 10 deletions(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index b1ce223ce..6699a5034 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -202,19 +202,23 @@ def resume_servos(): raise HTTPException(503, "Servo not available") state.animation_service._zero_mode = False state.animation_service._hold_mode = False + # Sync actual arm positions before the event loop starts so _current_state + # reflects hardware, not the stale rest_pos from before torque was cut. + state.animation_service._sync_state_from_hardware() + # Use 2x interpolation duration for resume so the arm eases in at half speed. + state.animation_service._resume_duration = state.animation_service.duration * 2.0 if not state.animation_service._running.is_set(): + # Set running and queue the event BEFORE starting the thread so the + # event is the first thing the loop processes (no race with _continue_playback). state.animation_service._running.set() + state.animation_service.dispatch(SERVO_CMD_PLAY, state.animation_service.idle_recording) state.animation_service._event_thread = threading.Thread( target=state.animation_service._event_loop, daemon=True ) state.animation_service._event_thread.start() state.logger.info("Animation event loop restarted via /servo/resume") - # Sync actual arm position (arm may have been moved while torque was off after release/zero). - # Without this, _current_state is stale and the first interpolation step snaps the arm. - state.animation_service._sync_state_from_hardware() - # Use 2x interpolation duration for resume so the arm eases in at half speed. - state.animation_service._resume_duration = state.animation_service.duration * 2.0 - state.animation_service.dispatch(SERVO_CMD_PLAY, state.animation_service.idle_recording) + else: + state.animation_service.dispatch(SERVO_CMD_PLAY, state.animation_service.idle_recording) state.logger.info("Servo resumed from zero-hold mode") return {"status": "ok"} diff --git a/lelamp/service/motors/animation_service.py b/lelamp/service/motors/animation_service.py index 2d1554d19..a12eb32be 100644 --- a/lelamp/service/motors/animation_service.py +++ b/lelamp/service/motors/animation_service.py @@ -62,6 +62,7 @@ def __init__(self, port: str, lamp_id: str, fps: int = 30, duration: float = 5.0 self._current_frame_index: int = 0 self._current_actions: List[Dict[str, float]] = [] self._interpolation_frames: int = 0 + self._interpolation_total_frames: int = 0 # denominator for progress; must match _interpolation_frames initial value self._interpolation_target: Optional[Dict[str, float]] = None # Music groove: loop while music is playing @@ -283,7 +284,9 @@ def _handle_play(self, recording_name: str): if self._current_state is not None: effective_duration = self._resume_duration if self._resume_duration is not None else self.duration self._resume_duration = None - self._interpolation_frames = int(effective_duration * self.fps) + total = int(effective_duration * self.fps) + self._interpolation_frames = total + self._interpolation_total_frames = total self._interpolation_target = actions[0] else: self._interpolation_frames = 0 @@ -323,8 +326,10 @@ def _continue_playback(self): try: # Handle interpolation to first frame if self._interpolation_frames > 0 and self._interpolation_target is not None: - # Calculate interpolation progress - progress = 1.0 - (self._interpolation_frames / (self.duration * self.fps)) + # Calculate interpolation progress — use stored total so the denominator + # matches the initial _interpolation_frames value, not always self.duration. + denom = self._interpolation_total_frames if self._interpolation_total_frames > 0 else int(self.duration * self.fps) + progress = 1.0 - (self._interpolation_frames / denom) progress = max(0.0, min(1.0, progress)) # Interpolate between current state and target @@ -395,7 +400,9 @@ def _continue_playback(self): self._current_actions = next_actions self._current_frame_index = 0 if self._current_state is not None: - self._interpolation_frames = int(self.duration * self.fps) + total = int(self.duration * self.fps) + self._interpolation_frames = total + self._interpolation_total_frames = total self._interpolation_target = next_actions[0] elif self._hold_mode: # Hold mode active while idle finished — hold pose, reduce FPS From bb5bf954da9fc798061f8dab868444fb3c4eef38 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 16:08:21 +0700 Subject: [PATCH 06/17] fix(servo): update rest_pos to match natural gravity position of lumi_final Previous values (-61.93 / 62.9) caused a visible drop when torque was cut because the arm hadn't settled to its gravity floor. New values (-75.88 / 62.4) match the actual resting position so there is no movement on release. --- lelamp/routes/servo.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index 6699a5034..61e7c5cca 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -312,13 +312,12 @@ def release_servos(): state.animation_service._running.clear() if state.animation_service._event_thread and state.animation_service._event_thread.is_alive(): state.animation_service._event_thread.join(timeout=3.0) - # Fully folded pose so the body is already at the mechanical floor - # when torque is cut — no remaining gap to drop. - # base_pitch/elbow_pitch capped to lumi_final physical limits. + # Natural gravity-rest pose — matches where the arm physically settles + # after torque is cut, so there is no drop when releasing. rest_pos = { "base_yaw.pos": 0.0, - "base_pitch.pos": -61.93, - "elbow_pitch.pos": 62.9, + "base_pitch.pos": -75.88, + "elbow_pitch.pos": 62.4, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 0.0, } From ef3fb4ee8131fc6422e2227903a7beaab4bbd793 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 16:11:21 +0700 Subject: [PATCH 07/17] fix(servo): slow resume transition by additional 30% (2.86x base duration) --- lelamp/routes/servo.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index 61e7c5cca..b82fe7553 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -205,8 +205,8 @@ def resume_servos(): # Sync actual arm positions before the event loop starts so _current_state # reflects hardware, not the stale rest_pos from before torque was cut. state.animation_service._sync_state_from_hardware() - # Use 2x interpolation duration for resume so the arm eases in at half speed. - state.animation_service._resume_duration = state.animation_service.duration * 2.0 + # Resume at ~30% slower than the 2x base: 2.0/0.7 ≈ 2.86x normal duration (~14.3s). + state.animation_service._resume_duration = state.animation_service.duration * 2.0 / 0.7 if not state.animation_service._running.is_set(): # Set running and queue the event BEFORE starting the thread so the # event is the first thing the loop processes (no race with _continue_playback). From 7296a25532e0a575a80c4df7bcd623fd5b54c26c Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 16:21:19 +0700 Subject: [PATCH 08/17] fix(servo): add move_to_unclamped for release position beyond calibration range MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit lerobot clips commanded positions to range_min/max, which prevented base_pitch, elbow_pitch, and wrist_pitch from reaching the natural gravity-rest position. Add AnimationService.move_to_unclamped() that computes raw encoder targets from the calibration mid-point and writes Goal_Position directly via scservo_sdk, bypassing the software clamp while still using the same degree→raw formula. Update release rest_pos to the measured gravity-rest position of lumi_final (base_pitch=-75.26, elbow_pitch=-65.02, wrist_pitch=-79.83) and switch release_servos() to use move_to_unclamped. --- lelamp/routes/servo.py | 39 ++++-------- lelamp/service/motors/animation_service.py | 73 +++++++++++++++++++++- 2 files changed, 83 insertions(+), 29 deletions(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index b82fe7553..c90e08238 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -312,42 +312,25 @@ def release_servos(): state.animation_service._running.clear() if state.animation_service._event_thread and state.animation_service._event_thread.is_alive(): state.animation_service._event_thread.join(timeout=3.0) - # Natural gravity-rest pose — matches where the arm physically settles - # after torque is cut, so there is no drop when releasing. + # Gravity-rest pose for lumi_final — where the arm naturally settles with + # torque off. base_pitch, elbow_pitch, wrist_pitch exceed calibrated + # range_min so move_to_unclamped bypasses lerobot's software clamp. rest_pos = { - "base_yaw.pos": 0.0, - "base_pitch.pos": -75.88, - "elbow_pitch.pos": 62.4, + "base_yaw.pos": 3.0, + "base_pitch.pos": -75.26, + "elbow_pitch.pos": -65.02, "wrist_roll.pos": 0.0, - "wrist_pitch.pos": 0.0, + "wrist_pitch.pos": -79.83, } try: # move_to commands the ramp but does not verify the servo physically # arrived. Under load the motor lags the command, so poll # Present_Position until every joint is within tolerance of rest_pos # before cutting torque — otherwise the body drops the remaining gap. - state.animation_service.move_to(rest_pos, duration=4.0) - from lelamp.service.motors.animation_service import ( - _motor_positions_from_bus, - ) - - tol_deg = 2.0 - deadline = time.perf_counter() + 3.0 - while time.perf_counter() < deadline: - with state.animation_service.bus_lock: - actual = _motor_positions_from_bus( - state.animation_service.robot - ) - if all( - abs(actual.get(k, 0.0) - v) <= tol_deg - for k, v in rest_pos.items() - ): - break - time.sleep(0.05) - else: - state.logger.warning( - "rest_pos not reached within 3s; releasing anyway" - ) + # move_to_unclamped sends the final exact write at end of duration; + # no need to poll since some joints exceed the calibrated range and + # lerobot's normalized read would clip them (false timeout warning). + state.animation_service.move_to_unclamped(rest_pos, duration=4.0) except Exception as e: state.logger.warning(f"Could not move to rest before release: {e}") bus = state.animation_service.robot.bus diff --git a/lelamp/service/motors/animation_service.py b/lelamp/service/motors/animation_service.py index a12eb32be..7c3e8090e 100644 --- a/lelamp/service/motors/animation_service.py +++ b/lelamp/service/motors/animation_service.py @@ -535,4 +535,75 @@ def move_to(self, target_positions: Dict[str, float], duration: float = DEFAULT_ except Exception as e: logger.warning(f"move_to: could not read full state after move: {e}") self._current_state = target_positions.copy() - \ No newline at end of file + + def move_to_unclamped(self, target_degrees: Dict[str, float], duration: float = DEFAULT_MOVE_DURATION): + """Like move_to but bypasses lerobot calibration range limits via direct STS3215 writes. + + Use for release/collapse positions that exceed the calibrated range_min/max. + Raw encoder targets are computed from the existing calibration mid-point so the + degree→raw mapping is consistent; only the software clamp is removed. + """ + if not self.robot: + raise RuntimeError("Robot not connected") + + from scservo_sdk import COMM_SUCCESS + GOAL_POSITION_REG = 42 # STS3215: Goal_Position (2 bytes, LSB first) + PRESENT_POSITION_REG = 56 # STS3215: Present_Position (2 bytes) + + ph = self.robot.bus.port_handler + pk = self.robot.bus.packet_handler + calib = self.robot.bus.calibration + + # Convert degree targets to raw encoder values (no range clamp, only 0-4095 physical limit) + target_raw: Dict[str, int] = {} + for joint_key, deg in target_degrees.items(): + motor_name = joint_key.replace(".pos", "") + c = calib.get(motor_name) + if c is None: + logger.warning("move_to_unclamped: no calibration for %s, skipping", motor_name) + continue + mid = (c["range_min"] + c["range_max"]) / 2 + raw = int(deg * 4095 / 360 + mid) + target_raw[motor_name] = max(0, min(4095, raw)) + + # Read current raw positions directly + current_raw: Dict[str, int] = {} + with self.bus_lock: + for motor_name, motor in self.robot.bus.motors.items(): + data, result, _ = pk.read2ByteTxRx(ph, motor.id, PRESENT_POSITION_REG) + if result == COMM_SUCCESS: + current_raw[motor_name] = data + else: + current_raw[motor_name] = target_raw.get(motor_name, 2048) + + total_frames = max(1, int(duration * self.fps)) + + for frame in range(1, total_frames + 1): + t0 = time.perf_counter() + progress = frame / total_frames + + with self.bus_lock: + for motor_name, target in target_raw.items(): + cur = current_raw.get(motor_name, target) + raw = max(0, min(4095, int(cur + (target - cur) * progress))) + motor_id = self.robot.bus.motors[motor_name].id + pk.write2ByteTxRx(ph, motor_id, GOAL_POSITION_REG, raw) + + dt = time.perf_counter() - t0 + sleep_time = (1.0 / self.fps) - dt + if sleep_time > 0: + time.sleep(sleep_time) + + # Final exact write + with self.bus_lock: + for motor_name, raw in target_raw.items(): + motor_id = self.robot.bus.motors[motor_name].id + pk.write2ByteTxRx(ph, motor_id, GOAL_POSITION_REG, raw) + + try: + with self.bus_lock: + pos = _motor_positions_from_bus(self.robot) + if pos: + self._current_state = pos + except Exception as e: + logger.warning("move_to_unclamped: could not read state after move: %s", e) From dd4bcc96b0d000814524b241f488aa2db2a874cd Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 16:26:50 +0700 Subject: [PATCH 09/17] fix(servo): replace move_to_unclamped with move_to_raw using pre-computed encoder targets move_to_unclamped accessed robot.bus.calibration which may not exist in the installed lerobot version, causing a silent exception and immediate torque cut. move_to_raw takes pre-computed raw encoder values (motor_name -> int) and uses direct STS3215 Goal_Position writes (reg 42) without any bus.calibration access. release_servos now passes hard-coded raw targets computed from the calibration JSON. --- lelamp/routes/servo.py | 29 +++++------- lelamp/service/motors/animation_service.py | 54 +++++++++------------- 2 files changed, 34 insertions(+), 49 deletions(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index c90e08238..56b503cc5 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -312,25 +312,20 @@ def release_servos(): state.animation_service._running.clear() if state.animation_service._event_thread and state.animation_service._event_thread.is_alive(): state.animation_service._event_thread.join(timeout=3.0) - # Gravity-rest pose for lumi_final — where the arm naturally settles with - # torque off. base_pitch, elbow_pitch, wrist_pitch exceed calibrated - # range_min so move_to_unclamped bypasses lerobot's software clamp. - rest_pos = { - "base_yaw.pos": 3.0, - "base_pitch.pos": -75.26, - "elbow_pitch.pos": -65.02, - "wrist_roll.pos": 0.0, - "wrist_pitch.pos": -79.83, + # Gravity-rest pose for lumi_final in raw encoder units. + # Pre-computed from calibration JSON: raw = round(deg * 4095/360 + mid) + # where mid = (range_min + range_max) / 2. + # base_pitch/elbow_pitch/wrist_pitch exceed calibrated range_min so we + # use move_to_raw (direct STS3215 writes) to bypass lerobot's software clamp. + rest_raw = { + "base_yaw": 2075, # 3.00° — mid=2041.5 + "base_pitch": 1456, # -75.26° — mid=2312.5 + "elbow_pitch": 1626, # -65.02° — mid=2366.5 + "wrist_roll": 2070, # 0.00° — mid=2070.0 + "wrist_pitch": 1679, # -79.83° — mid=2588.0 } try: - # move_to commands the ramp but does not verify the servo physically - # arrived. Under load the motor lags the command, so poll - # Present_Position until every joint is within tolerance of rest_pos - # before cutting torque — otherwise the body drops the remaining gap. - # move_to_unclamped sends the final exact write at end of duration; - # no need to poll since some joints exceed the calibrated range and - # lerobot's normalized read would clip them (false timeout warning). - state.animation_service.move_to_unclamped(rest_pos, duration=4.0) + state.animation_service.move_to_raw(rest_raw, duration=4.0) except Exception as e: state.logger.warning(f"Could not move to rest before release: {e}") bus = state.animation_service.robot.bus diff --git a/lelamp/service/motors/animation_service.py b/lelamp/service/motors/animation_service.py index 7c3e8090e..550c1db42 100644 --- a/lelamp/service/motors/animation_service.py +++ b/lelamp/service/motors/animation_service.py @@ -536,45 +536,33 @@ def move_to(self, target_positions: Dict[str, float], duration: float = DEFAULT_ logger.warning(f"move_to: could not read full state after move: {e}") self._current_state = target_positions.copy() - def move_to_unclamped(self, target_degrees: Dict[str, float], duration: float = DEFAULT_MOVE_DURATION): - """Like move_to but bypasses lerobot calibration range limits via direct STS3215 writes. + def move_to_raw(self, target_raw: Dict[str, int], duration: float = DEFAULT_MOVE_DURATION): + """Smoothly move servos to raw encoder positions via direct STS3215 register writes. - Use for release/collapse positions that exceed the calibrated range_min/max. - Raw encoder targets are computed from the existing calibration mid-point so the - degree→raw mapping is consistent; only the software clamp is removed. + Bypasses lerobot calibration range limits entirely. Use for release/collapse + positions that exceed the calibrated range_min/max. Caller pre-computes raw + encoder targets so no bus.calibration access is needed here. + + Args: + target_raw: motor_name → raw encoder value (0-4095), e.g. {"base_pitch": 1456} + duration: seconds to reach the target """ if not self.robot: raise RuntimeError("Robot not connected") - from scservo_sdk import COMM_SUCCESS GOAL_POSITION_REG = 42 # STS3215: Goal_Position (2 bytes, LSB first) PRESENT_POSITION_REG = 56 # STS3215: Present_Position (2 bytes) ph = self.robot.bus.port_handler pk = self.robot.bus.packet_handler - calib = self.robot.bus.calibration - - # Convert degree targets to raw encoder values (no range clamp, only 0-4095 physical limit) - target_raw: Dict[str, int] = {} - for joint_key, deg in target_degrees.items(): - motor_name = joint_key.replace(".pos", "") - c = calib.get(motor_name) - if c is None: - logger.warning("move_to_unclamped: no calibration for %s, skipping", motor_name) - continue - mid = (c["range_min"] + c["range_max"]) / 2 - raw = int(deg * 4095 / 360 + mid) - target_raw[motor_name] = max(0, min(4095, raw)) - - # Read current raw positions directly + + # Read current raw positions directly (bypasses normalization) current_raw: Dict[str, int] = {} with self.bus_lock: - for motor_name, motor in self.robot.bus.motors.items(): - data, result, _ = pk.read2ByteTxRx(ph, motor.id, PRESENT_POSITION_REG) - if result == COMM_SUCCESS: - current_raw[motor_name] = data - else: - current_raw[motor_name] = target_raw.get(motor_name, 2048) + for motor_name, motor_obj in self.robot.bus.motors.items(): + data, result, _ = pk.read2ByteTxRx(ph, motor_obj.id, PRESENT_POSITION_REG) + # result==0 means COMM_SUCCESS in scservo_sdk + current_raw[motor_name] = data if result == 0 else target_raw.get(motor_name, 2048) total_frames = max(1, int(duration * self.fps)) @@ -586,8 +574,9 @@ def move_to_unclamped(self, target_degrees: Dict[str, float], duration: float = for motor_name, target in target_raw.items(): cur = current_raw.get(motor_name, target) raw = max(0, min(4095, int(cur + (target - cur) * progress))) - motor_id = self.robot.bus.motors[motor_name].id - pk.write2ByteTxRx(ph, motor_id, GOAL_POSITION_REG, raw) + motor_obj = self.robot.bus.motors.get(motor_name) + if motor_obj: + pk.write2ByteTxRx(ph, motor_obj.id, GOAL_POSITION_REG, raw) dt = time.perf_counter() - t0 sleep_time = (1.0 / self.fps) - dt @@ -597,8 +586,9 @@ def move_to_unclamped(self, target_degrees: Dict[str, float], duration: float = # Final exact write with self.bus_lock: for motor_name, raw in target_raw.items(): - motor_id = self.robot.bus.motors[motor_name].id - pk.write2ByteTxRx(ph, motor_id, GOAL_POSITION_REG, raw) + motor_obj = self.robot.bus.motors.get(motor_name) + if motor_obj: + pk.write2ByteTxRx(ph, motor_obj.id, GOAL_POSITION_REG, raw) try: with self.bus_lock: @@ -606,4 +596,4 @@ def move_to_unclamped(self, target_degrees: Dict[str, float], duration: float = if pos: self._current_state = pos except Exception as e: - logger.warning("move_to_unclamped: could not read state after move: %s", e) + logger.warning("move_to_raw: could not read state after move: %s", e) From b57b80c4dca5a2f5c1a3f4c3cdd270b57089e216 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 16:30:25 +0700 Subject: [PATCH 10/17] fix(servo): adjust release wrist_pitch to -94.17deg (raw 1516) --- lelamp/routes/servo.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index 56b503cc5..4594b3c77 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -322,7 +322,7 @@ def release_servos(): "base_pitch": 1456, # -75.26° — mid=2312.5 "elbow_pitch": 1626, # -65.02° — mid=2366.5 "wrist_roll": 2070, # 0.00° — mid=2070.0 - "wrist_pitch": 1679, # -79.83° — mid=2588.0 + "wrist_pitch": 1516, # -94.17° — mid=2588.0 } try: state.animation_service.move_to_raw(rest_raw, duration=4.0) From 9c99d6de8061b76d2b4cb826f7bae7d796bd45d0 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 16:38:08 +0700 Subject: [PATCH 11/17] fix(servo): set release wrist_pitch to -42.16deg (raw 2108) --- lelamp/routes/servo.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index 4594b3c77..05acaaf48 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -322,7 +322,7 @@ def release_servos(): "base_pitch": 1456, # -75.26° — mid=2312.5 "elbow_pitch": 1626, # -65.02° — mid=2366.5 "wrist_roll": 2070, # 0.00° — mid=2070.0 - "wrist_pitch": 1516, # -94.17° — mid=2588.0 + "wrist_pitch": 2108, # -42.16° — mid=2588.0 } try: state.animation_service.move_to_raw(rest_raw, duration=4.0) From 639da3a3076dfc4056ed40f31290d3de65612a16 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 16:46:26 +0700 Subject: [PATCH 12/17] =?UTF-8?q?feat(servo):=20add=20resume=20startup=20p?= =?UTF-8?q?osition=20=E2=80=94=20arm=20wakes=20to=20defined=20pose=20befor?= =?UTF-8?q?e=20idle?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit After release, servo/resume now: 1. Re-enables torque via _configure_servos_raw 2. Moves all joints to RESUME_STARTUP_RAW over 5s (blocking) 3. Then enters idle animation with normal interpolation RESUME_STARTUP_RAW: base_yaw=2109 (5.96°), base_pitch=2105 (-18.20°), elbow_pitch=2233 (-11.68°), wrist_roll=2070 (0°), wrist_pitch=1809 (-68.48°). wrist_pitch exceeds calibrated range so move_to_raw is used for direct writes. Also updates start() to use move_to_raw with RESUME_STARTUP_RAW instead of the old 2-joint STARTUP_POSITION, giving all servos a defined boot position. --- lelamp/routes/servo.py | 21 +++++++++++++++------ lelamp/service/motors/animation_service.py | 22 +++++++++++++--------- 2 files changed, 28 insertions(+), 15 deletions(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index 05acaaf48..305b96b34 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -32,6 +32,7 @@ AIM_RIGHT, SERVO_CMD_PLAY, ) +from lelamp.service.motors.animation_service import RESUME_STARTUP_RAW, STARTUP_MOVE_DURATION router = APIRouter(tags=["Servo"]) @@ -202,14 +203,22 @@ def resume_servos(): raise HTTPException(503, "Servo not available") state.animation_service._zero_mode = False state.animation_service._hold_mode = False - # Sync actual arm positions before the event loop starts so _current_state - # reflects hardware, not the stale rest_pos from before torque was cut. + # Re-enable torque and reconfigure servos (release left torque disabled) + try: + state.animation_service._configure_servos_raw() + except Exception as e: + state.logger.warning("resume: raw configure failed: %s", e) + # Move to wake position before entering idle (arm lifts from release pose) + try: + state.animation_service.move_to_raw(RESUME_STARTUP_RAW, duration=STARTUP_MOVE_DURATION) + state.logger.info("Servo moved to resume startup position") + except Exception as e: + state.logger.warning("resume: startup move failed: %s", e) + # Sync state from hardware now that arm is at a known position state.animation_service._sync_state_from_hardware() - # Resume at ~30% slower than the 2x base: 2.0/0.7 ≈ 2.86x normal duration (~14.3s). - state.animation_service._resume_duration = state.animation_service.duration * 2.0 / 0.7 + # Normal interpolation duration (arm arrives from a controlled position) + state.animation_service._resume_duration = state.animation_service.duration if not state.animation_service._running.is_set(): - # Set running and queue the event BEFORE starting the thread so the - # event is the first thing the loop processes (no race with _continue_playback). state.animation_service._running.set() state.animation_service.dispatch(SERVO_CMD_PLAY, state.animation_service.idle_recording) state.animation_service._event_thread = threading.Thread( diff --git a/lelamp/service/motors/animation_service.py b/lelamp/service/motors/animation_service.py index 550c1db42..8a27e419e 100644 --- a/lelamp/service/motors/animation_service.py +++ b/lelamp/service/motors/animation_service.py @@ -12,14 +12,18 @@ # Default interpolation duration for move_to (seconds) DEFAULT_MOVE_DURATION = 2.0 -# Startup position for base_pitch and elbow_pitch only. -# Other servos (base_yaw, wrist_roll, wrist_pitch) are left released. -STARTUP_POSITION = { - "base_pitch.pos": -30.0, - "elbow_pitch.pos": 57.0, +# Wake/resume position in raw encoder units — all 5 joints. +# Pre-computed from calibration JSON: raw = int(deg * 4095/360 + mid), mid=(range_min+range_max)/2. +# wrist_pitch (-68.48°, raw 1809) exceeds calibrated range_min=2044, so move_to_raw is used. +RESUME_STARTUP_RAW = { + "base_yaw": 2109, # 5.96° — mid=2041.5 + "base_pitch": 2105, # -18.20° — mid=2312.5 + "elbow_pitch": 2233, # -11.68° — mid=2366.5 + "wrist_roll": 2070, # 0.00° — mid=2070.0 + "wrist_pitch": 1809, # -68.48° — mid=2588.0 } -# Duration for the startup move (seconds) +# Duration for the startup/resume move (seconds) STARTUP_MOVE_DURATION = 5.0 # Recordings that hold final pose instead of returning to idle @@ -146,10 +150,10 @@ def start(self): logger.info(f"Animation service connected to {self.port}") - # Move base_pitch and elbow_pitch to startup position + # Move all joints to wake/startup position (includes wrist_pitch outside calib range) try: - self.move_to(STARTUP_POSITION, duration=STARTUP_MOVE_DURATION) - logger.info("Servos 2,3 moved to startup position") + self.move_to_raw(RESUME_STARTUP_RAW, duration=STARTUP_MOVE_DURATION) + logger.info("Servos moved to startup position") except Exception as e: logger.warning(f"Failed to move to startup position: {e}") From 36357f5a1df8a962fdd98923c7eefce78b3226e7 Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 16:54:23 +0700 Subject: [PATCH 13/17] fix(servo): redefine zero position to physical rest pose of lumi_final Zero now moves to the measured resting position after release rather than all-joints-0. Uses move_to_raw (bypasses calibration clamp) since wrist_pitch (-59.18deg, raw 1914) exceeds calibrated range_min=2044. Also adds _configure_servos_raw before the move to ensure torque is on. ZERO_RAW: base_yaw=2100, base_pitch=2091, elbow_pitch=2276, wrist_roll=2070, wrist_pitch=1914 --- lelamp/routes/servo.py | 12 +++++++----- lelamp/service/motors/animation_service.py | 10 ++++++++++ 2 files changed, 17 insertions(+), 5 deletions(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index 305b96b34..46d612c1b 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -32,7 +32,7 @@ AIM_RIGHT, SERVO_CMD_PLAY, ) -from lelamp.service.motors.animation_service import RESUME_STARTUP_RAW, STARTUP_MOVE_DURATION +from lelamp.service.motors.animation_service import RESUME_STARTUP_RAW, STARTUP_MOVE_DURATION, ZERO_RAW router = APIRouter(tags=["Servo"]) @@ -301,13 +301,15 @@ def zero_servos(): state.animation_service._running.clear() if state.animation_service._event_thread and state.animation_service._event_thread.is_alive(): state.animation_service._event_thread.join(timeout=3.0) - zero_pos = {f"{m}.pos": 0.0 for m in state.animation_service.robot.bus.motors} - zero_pos["elbow_pitch.pos"] = 0.0 try: - state.animation_service.move_to(zero_pos, duration=2.0) + state.animation_service._configure_servos_raw() + except Exception as e: + state.logger.warning("zero: raw configure failed: %s", e) + try: + state.animation_service.move_to_raw(ZERO_RAW, duration=2.0) except Exception as e: state.logger.warning(f"Could not move to zero: {e}") - state.animation_service._current_state = {k: 0.0 for k in zero_pos} + state.animation_service._sync_state_from_hardware() return {"status": "ok"} diff --git a/lelamp/service/motors/animation_service.py b/lelamp/service/motors/animation_service.py index 8a27e419e..8366096f0 100644 --- a/lelamp/service/motors/animation_service.py +++ b/lelamp/service/motors/animation_service.py @@ -12,6 +12,16 @@ # Default interpolation duration for move_to (seconds) DEFAULT_MOVE_DURATION = 2.0 +# Zero/hold position in raw encoder units — the physical resting pose after release. +# wrist_pitch (-59.18°, raw 1914) exceeds calibrated range_min=2044, so move_to_raw is used. +ZERO_RAW = { + "base_yaw": 2100, # 5.22° — mid=2041.5 + "base_pitch": 2091, # -19.45° — mid=2312.5 + "elbow_pitch": 2276, # -7.93° — mid=2366.5 + "wrist_roll": 2070, # 0.00° — mid=2070.0 + "wrist_pitch": 1914, # -59.18° — mid=2588.0 +} + # Wake/resume position in raw encoder units — all 5 joints. # Pre-computed from calibration JSON: raw = int(deg * 4095/360 + mid), mid=(range_min+range_max)/2. # wrist_pitch (-68.48°, raw 1809) exceeds calibrated range_min=2044, so move_to_raw is used. From 6fd8190d26e5fd6ef8ee6404e6ccb32bb38eee5c Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 17:04:45 +0700 Subject: [PATCH 14/17] fix(servo): adjust zero base_pitch to -20.25deg (raw 2082) --- lelamp/service/motors/animation_service.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lelamp/service/motors/animation_service.py b/lelamp/service/motors/animation_service.py index 8366096f0..23a436e82 100644 --- a/lelamp/service/motors/animation_service.py +++ b/lelamp/service/motors/animation_service.py @@ -16,7 +16,7 @@ # wrist_pitch (-59.18°, raw 1914) exceeds calibrated range_min=2044, so move_to_raw is used. ZERO_RAW = { "base_yaw": 2100, # 5.22° — mid=2041.5 - "base_pitch": 2091, # -19.45° — mid=2312.5 + "base_pitch": 2082, # -20.25° — mid=2312.5 "elbow_pitch": 2276, # -7.93° — mid=2366.5 "wrist_roll": 2070, # 0.00° — mid=2070.0 "wrist_pitch": 1914, # -59.18° — mid=2588.0 From 90d16b309c5b73c975a746bfff6f3f9edc84436d Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 17:13:00 +0700 Subject: [PATCH 15/17] fix(servo): update zero position elbow_pitch to -30.54deg (raw 2019) Matches physical rest position observed on lumi_final hardware. --- lelamp/service/motors/animation_service.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lelamp/service/motors/animation_service.py b/lelamp/service/motors/animation_service.py index 23a436e82..2c722e9da 100644 --- a/lelamp/service/motors/animation_service.py +++ b/lelamp/service/motors/animation_service.py @@ -17,7 +17,7 @@ ZERO_RAW = { "base_yaw": 2100, # 5.22° — mid=2041.5 "base_pitch": 2082, # -20.25° — mid=2312.5 - "elbow_pitch": 2276, # -7.93° — mid=2366.5 + "elbow_pitch": 2019, # -30.54° — mid=2366.5 "wrist_roll": 2070, # 0.00° — mid=2070.0 "wrist_pitch": 1914, # -59.18° — mid=2588.0 } From 4e93e2d8ccd1e227b3236adb21cc6f638692831b Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Tue, 9 Jun 2026 17:23:59 +0700 Subject: [PATCH 16/17] add script test touch sensor --- hardware/calibration.md | 64 +++++++++++++++++++++++++++++++++++++ lelamp/test_ttp223_probe.py | 37 +++++++++++++++++++++ 2 files changed, 101 insertions(+) create mode 100644 hardware/calibration.md create mode 100644 lelamp/test_ttp223_probe.py diff --git a/hardware/calibration.md b/hardware/calibration.md new file mode 100644 index 000000000..1099cacad --- /dev/null +++ b/hardware/calibration.md @@ -0,0 +1,64 @@ +# Calibration + +One-time per-unit setup after assembly. Skeleton — paste actual numbers from your build into the TODOs. + +## Servo zero positions + +Each STS3215 needs a zero-offset captured for the kinematics in `lelamp/follower/` and `lelamp/leader/`. Procedure: + +1. Power up the lamp. Do not start the lelamp service yet (it grabs the bus). +2. Manually move each joint to its mechanical zero (defined per joint — TODO: photo per joint). +3. Run the calibration tool: TODO command. +4. Calibration files land in `~/.cache/huggingface/lerobot/calibration/` and are read by `lelamp/calibration/`. + +| Servo | Joint | Mechanical zero | Recorded offset | +|---|---|---|---| +| 1 | base yaw | TODO | TODO | +| 2 | shoulder | TODO | TODO | +| 3 | elbow | TODO | TODO | +| 4 | wrist | TODO | TODO | +| 5 | head tilt | TODO | TODO | + +## Microphone gain + +### Voice mic (USB) +- Initial: `amixer -c sset Mic 50%` +- Tune until utterances peak at ~−12 dBFS in your room. +- Recorded value: TODO + +### Sensing mic (onboard) +- On Raspberry Pi: a watchdog clamps wm8960 capture gain to 160 — see `project_lumi_pcm_watchdog.md`. Don't fight it. +- On OrangePi: TODO — measure ambient noise floor and pick gain. + +## Speaker volume + +- Set DAC level once, then leave it. lelamp's `set_volume` adjusts a software gain on top. +- OrangePi safe defaults (from `project_orangepi_lelamp_dac_cap.md`): + - `amixer -c 1 sset 'ADC2DAC Mixer' 0` + - `amixer -c 1 sset 'ADCL/R PGA' 10` (≈ 30 dB) + - `amixer -c 1 sset DACL/R 70%` (≈ −6.5 dB) +- Pi defaults: TODO + +## LED brightness cap + +- Maximum allowed: TODO % of max (limited by 5 V rail headroom — see [`power.md`](power.md)). +- Capped in `lelamp/service/rgb/rgb_service.py` — confirm the constant matches what the rail can deliver. + +## Camera focus + +- IMX307 USB module is fixed-focus; nothing to do. +- If image is soft, check the lens isn't loose in its mount. + +## Verification + +After calibration: +- [ ] Each joint reaches its commanded position within ±2° +- [ ] No clipping during normal-volume TTS +- [ ] LED ring at full white doesn't brown out the SBC +- [ ] No audible hum at idle volume + +## TODO + +- [ ] Capture command names for the servo calibration tool +- [ ] Joint-zero photos +- [ ] Final amixer values per board diff --git a/lelamp/test_ttp223_probe.py b/lelamp/test_ttp223_probe.py new file mode 100644 index 000000000..476f7b80c --- /dev/null +++ b/lelamp/test_ttp223_probe.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +"""Probe each TTP223 line independently. Touch one pad at a time; you should see +the corresponding line print HIGH then LOW. Ctrl+C to exit. + +Wiring (OrangePi 4 Pro, A733 / sun60iw2): + S1 -> header pin 29 / PD0 / gpiochip0 line 96 (left-most pad) + S2 -> header pin 31 / PD1 / gpiochip0 line 97 + S3 -> header pin 33 / PD2 / gpiochip0 line 98 + S4 -> header pin 35 / PD3 / gpiochip0 line 99 (right-most pad) + VCC -> 3.3V (header pin 17) [NOT 5V] + GND -> GND (header pin 25 or 39) + +Requires libgpiod >= 2.0 (PyPI `gpiod>=2.0`). The user running this needs to be +in the `gpio` group so /dev/gpiochip0 is openable without sudo. +""" +import time +import gpiod +from gpiod.line import Bias, Direction, Value + +CHIP = "/dev/gpiochip0" +LINES = [96, 97, 98, 99] +NAMES = {96: "S1", 97: "S2", 98: "S3", 99: "S4"} + +settings = gpiod.LineSettings(direction=Direction.INPUT, bias=Bias.PULL_DOWN) +config = {l: settings for l in LINES} + +with gpiod.request_lines(CHIP, consumer="ttp223-probe", config=config) as req: + print("Probing", LINES, "(PULL_DOWN). Touch each pad. Ctrl+C to exit.") + last = {l: None for l in LINES} + while True: + vals = req.get_values(LINES) + for line, v in zip(LINES, vals): + high = (v == Value.ACTIVE) + if last[line] != high: + print(f"{time.strftime('%H:%M:%S')} {NAMES[line]} (line {line}) = {'HIGH' if high else 'LOW'}") + last[line] = high + time.sleep(0.02) From a9b53d2659410d3548edd67dc75c64200e91572e Mon Sep 17 00:00:00 2001 From: kyle-aus <283613302+kyle-aus@users.noreply.github.com> Date: Wed, 10 Jun 2026 12:24:00 +0700 Subject: [PATCH 17/17] fix(servo): stop event loop before move_to_raw and verify rest position before torque cut MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - resume_servos: always stop and join the event loop before calling move_to_raw to prevent concurrent bus writes from the animation thread thrashing the STS3215 serial bus - release_servos: poll PRESENT_POSITION for up to 3s after move_to_raw to confirm all joints physically reached rest_raw before disabling torque — prevents uncontrolled drop when a joint lags under load --- lelamp/routes/servo.py | 41 +++++++++++++++++++++++++++++++---------- 1 file changed, 31 insertions(+), 10 deletions(-) diff --git a/lelamp/routes/servo.py b/lelamp/routes/servo.py index 46d612c1b..d2c6a4d3f 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -203,6 +203,10 @@ def resume_servos(): raise HTTPException(503, "Servo not available") state.animation_service._zero_mode = False state.animation_service._hold_mode = False + # Stop the event loop before raw bus moves to prevent bus contention + state.animation_service._running.clear() + if state.animation_service._event_thread and state.animation_service._event_thread.is_alive(): + state.animation_service._event_thread.join(timeout=3.0) # Re-enable torque and reconfigure servos (release left torque disabled) try: state.animation_service._configure_servos_raw() @@ -218,16 +222,13 @@ def resume_servos(): state.animation_service._sync_state_from_hardware() # Normal interpolation duration (arm arrives from a controlled position) state.animation_service._resume_duration = state.animation_service.duration - if not state.animation_service._running.is_set(): - state.animation_service._running.set() - state.animation_service.dispatch(SERVO_CMD_PLAY, state.animation_service.idle_recording) - state.animation_service._event_thread = threading.Thread( - target=state.animation_service._event_loop, daemon=True - ) - state.animation_service._event_thread.start() - state.logger.info("Animation event loop restarted via /servo/resume") - else: - state.animation_service.dispatch(SERVO_CMD_PLAY, state.animation_service.idle_recording) + # Restart event loop + state.animation_service._running.set() + state.animation_service.dispatch(SERVO_CMD_PLAY, state.animation_service.idle_recording) + state.animation_service._event_thread = threading.Thread( + target=state.animation_service._event_loop, daemon=True + ) + state.animation_service._event_thread.start() state.logger.info("Servo resumed from zero-hold mode") return {"status": "ok"} @@ -339,6 +340,26 @@ def release_servos(): state.animation_service.move_to_raw(rest_raw, duration=4.0) except Exception as e: state.logger.warning(f"Could not move to rest before release: {e}") + # Poll PRESENT_POSITION until all joints physically reach rest_raw before cutting torque. + # move_to_raw only writes GOAL_POSITION — under load the servo lags the command. + _PRESENT_REG = 56 + _tol_raw = 23 # ~2 degrees (4095/360 * 2) + _bus = state.animation_service.robot.bus + _deadline = time.perf_counter() + 3.0 + while time.perf_counter() < _deadline: + with state.animation_service.bus_lock: + actual = {} + for _name, _motor in _bus.motors.items(): + _data, _result, _ = _bus.packet_handler.read2ByteTxRx( + _bus.port_handler, _motor.id, _PRESENT_REG + ) + if _result == 0: + actual[_name] = _data + if all(abs(actual.get(k, 0) - v) <= _tol_raw for k, v in rest_raw.items()): + break + time.sleep(0.05) + else: + state.logger.warning("rest_raw not reached within 3s; releasing torque anyway") bus = state.animation_service.robot.bus errors = {} with state.animation_service.bus_lock: