From 0c494b583cc4873f408cbc0fd2b7eb0077696489 Mon Sep 17 00:00:00 2001 From: juliaj Date: Mon, 2 Mar 2026 19:39:45 -0800 Subject: [PATCH 1/3] Improve debugging --- Demo/README.md | 2 +- Demo/scripts/check_devices.py | 126 ++++++++ PythonExample/common.py | 10 +- pixi.lock | 526 +++++++++++++++++----------------- pixi.toml | 4 + 5 files changed, 405 insertions(+), 263 deletions(-) create mode 100644 Demo/scripts/check_devices.py diff --git a/Demo/README.md b/Demo/README.md index bf3928f..22f57c7 100644 --- a/Demo/README.md +++ b/Demo/README.md @@ -2,7 +2,7 @@ ## Running with pixi -Prerequisites: install [Pixi](https://pixi.prefix.dev/latest/installation/). Rust is needed for real hardware demos (AHControl). Before running real hardware demos, check the serial port in the dataflow YAML: the default is Linux (`/dev/ttyACM0`); on Windows use your COM port (e.g. `COM3`). +Prerequisites: install [Pixi](https://pixi.prefix.dev/latest/installation/). Rust is needed for real hardware demos (AHControl). Before running real hardware demos, check the serial port in the dataflow YAML: the default is Linux (`/dev/ttyACM0`); on Windows use your COM port (e.g. `COM3`). Run `pixi run check-devices` to list webcam indices and serial ports. From the AmazingHand repository root (Git Bash on Windows, or a Unix shell on Linux/macOS): diff --git a/Demo/scripts/check_devices.py b/Demo/scripts/check_devices.py new file mode 100644 index 0000000..444955f --- /dev/null +++ b/Demo/scripts/check_devices.py @@ -0,0 +1,126 @@ +#!/usr/bin/env python3 +# Copyright (C) 2026 Julia Jia +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Check webcam indices and serial ports. Run before demos to verify devices.""" + +import os +import sys + +_MAX_CAMERA_PROBE = 3 + + +def check_webcams(): + """Probe camera indices 0..N and report which open successfully.""" + try: + import cv2 + except ImportError: + print("Webcam: opencv-python not installed (pip install opencv-python)") + return + available = [] + devnull = os.open(os.devnull, os.O_WRONLY) + stderr_fd = os.dup(2) + try: + os.dup2(devnull, 2) + for i in range(_MAX_CAMERA_PROBE): + cap = cv2.VideoCapture(i) + if cap.isOpened(): + w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) + available.append((i, w, h)) + cap.release() + finally: + os.dup2(stderr_fd, 2) + os.close(stderr_fd) + os.close(devnull) + if available: + print("Webcam indices:") + for idx, w, h in available: + print(f" {idx}: {w}x{h}") + print(" Use index 0 in HandTracking unless you have multiple cameras.") + if len(available) >= 2: + print(" Note: indices 0 and 1 may be the same camera (Linux exposes multiple /dev/video* nodes). Try 0 first; if wrong, try 1.") + else: + print(f"Webcam: no cameras found (indices 0..{_MAX_CAMERA_PROBE - 1})") + + +def _is_usb_port(device): + """Prefer USB serial devices (hand controller) over built-in ttyS.""" + d = device.upper() + return "ACM" in d or "USB" in d or d.startswith("COM") + + +def _port_status(device): + """Try opening port. Return 'available', 'in_use', or 'no_permission'.""" + try: + import serial + except ImportError: + return None + try: + ser = serial.Serial(device, timeout=0.1) + ser.close() + return "available" + except OSError as e: + if e.errno == 16: # EBUSY + return "in_use" + if e.errno in (13, 1): # EACCES, EPERM + return "no_permission" + return None + except Exception as e: + msg = str(e).lower() + if "busy" in msg or "in use" in msg or "resource" in msg: + return "in_use" + if "denied" in msg or "permission" in msg or "access" in msg: + return "no_permission" + return None + + +def check_serial_ports(): + """List serial ports. Linux: /dev/ttyACM*, /dev/ttyUSB*. Windows: COM*.""" + try: + import serial.tools.list_ports + except ImportError: + print("Serial: pyserial not installed (pip install pyserial)") + return + ports = list(serial.tools.list_ports.comports()) + usb = [p for p in ports if _is_usb_port(p.device)] + other = [p for p in ports if p not in usb] + shown = usb or other + if shown: + print("Serial ports:") + for p in sorted(shown, key=lambda x: (not _is_usb_port(x.device), x.device)): + desc = p.description or "" + note = " (USB, likely hand)" if _is_usb_port(p.device) else "" + status = _port_status(p.device) + if status == "in_use": + note += " [IN USE by another process]" + elif status == "no_permission": + note += " [no permission; Linux: add user to dialout group]" + print(f" {p.device}: {desc}{note}") + if usb: + print(" Use the USB device in dataflow YAML --serialport.") + else: + print("Serial: no serial ports found. Connect the hand via USB and ensure drivers are installed.") + + +def main(): + print("=== AmazingHand device check ===\n") + check_webcams() + print() + check_serial_ports() + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/PythonExample/common.py b/PythonExample/common.py index 8a0f9ef..56a1a66 100644 --- a/PythonExample/common.py +++ b/PythonExample/common.py @@ -15,6 +15,7 @@ # See the License for the specific language governing permissions and # limitations under the License. +import logging import os import sys from pathlib import Path @@ -26,6 +27,7 @@ except ImportError: tomllib = None +_log = logging.getLogger(__name__) _REPO_ROOT = Path(__file__).resolve().parent.parent _CANONICAL_CONFIG_ROOT = _REPO_ROOT / "config" _PROFILE_ENV = "AMAZINGHAND_PROFILE" @@ -155,10 +157,16 @@ def load_config_canonical(profile=None, config_root=None): return _DEFAULTS.copy() with open(profiles_path, "rb") as f: data = tomllib.load(f) - name = (profile or os.environ.get(_PROFILE_ENV) or "team_julia").strip().lower() + name = (profile or os.environ.get(_PROFILE_ENV) or "team_krishan").strip().lower() + source = "argument" if profile else ("env " + _PROFILE_ENV if os.environ.get(_PROFILE_ENV) else "default") section = data.get("profile", {}).get(name, {}) if not section: + _log.warning( + "Profile %r not found in profiles.toml; using defaults. Set %s to a valid profile name.", + name, _PROFILE_ENV + ) return _DEFAULTS.copy() + print(f"Using profile {name!r} (from {source}). Set {_PROFILE_ENV} to override.") out = { "port": (section.get("port") or _DEFAULTS["port"]) or "", "baudrate": section.get("baudrate", _DEFAULTS["baudrate"]), diff --git a/pixi.lock b/pixi.lock index 2bbc1b3..b6d1deb 100644 --- a/pixi.lock +++ b/pixi.lock @@ -11,23 +11,23 @@ environments: linux-64: - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-default_hfdba357_101.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_8.conda - - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.1.4-hbd8a1cb_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.2.25-hbd8a1cb_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-15.2.0-he420e7e_18.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-78.2-h33c6efd_0.conda - 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id: hand_tracker + build: python -m pip install -e HandTracking + path: HandTracking/HandTracking/main.py + inputs: + tick: dora/timer/millis/50 + outputs: + - l_hand_pos + + - id: l_hand_simulation + build: python -m pip install -e AHSimulation + path: AHSimulation/AHSimulation/mj_mink_left.py + inputs: + l_hand_pos: hand_tracker/l_hand_pos + tick: dora/timer/millis/2 + tick_ctrl: dora/timer/millis/10 + outputs: + - mj_l_joints_pos + + - id: hand_controller + build: cargo build -p AHControl + path: target/debug/AHControl.exe + args: --serialport COM3 --config ../config/calibration/l_hand_team_krishan.toml + inputs: + mj_l_joints_pos: l_hand_simulation/mj_l_joints_pos From 0c56243db6619db3faab9ce67cc0fe223d4def0f Mon Sep 17 00:00:00 2001 From: juliaj Date: Tue, 3 Mar 2026 09:48:47 -0800 Subject: [PATCH 3/3] Update fork.md to add debug facility --- FORK.md | 4 ++++ docs/additional_assembly_guide.md | 3 +++ 2 files changed, 7 insertions(+) create mode 100644 docs/additional_assembly_guide.md diff --git a/FORK.md b/FORK.md index 5152de7..83b2b58 100644 --- a/FORK.md +++ b/FORK.md @@ -18,6 +18,10 @@ Python package for named poses and raw angles. See [README_PKG.md](README_PKG.md GitHub Actions for lint (pre-commit), SDK, PythonExample, Demo, and AHControl tests. See [.github/workflows/ci.yml](.github/workflows/ci.yml). +## Debug: check-devices + +Pixi task `pixi run check-devices` lists webcam indices and serial ports. Use before running demos to verify device paths. + ## Other Changes Pixi for dependency management; unit tests for SDK, PythonExample, Demo, and AHControl; Dora/MuJoCo simulation demos; pre-commit hooks. diff --git a/docs/additional_assembly_guide.md b/docs/additional_assembly_guide.md new file mode 100644 index 0000000..5fc5d4d --- /dev/null +++ b/docs/additional_assembly_guide.md @@ -0,0 +1,3 @@ +# Additional Assembly Guide + +## How to know whether the servo id assignment is wrong \ No newline at end of file