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feat(motors): add RobStride CAN implementation (#2821)

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* feat(motors): add initial implementation of robstride

Co-authored-by: Virgile <virgilebatto@gmail.com>

* chore(motors): solve some linter

* remove kp/kd attribute

* code uniformisation between damiao and robstride

* remove normalization warning

* remove non valid baudrates and small docstring update

* remove all useless files. Only keeping robstride.py and table.py

* typing for mypy

* reduce NameOrId usage

* align signature with damiao

* put the same helper than in the damiao implementation

* bug correction : expect a response after each bus.send

---------

Co-authored-by: Virgile <virgilebatto@gmail.com>
This commit is contained in:
Steven Palma
2026-02-23 16:39:04 +01:00
committed by GitHub
parent a0c5d19391
commit 544cbc5f38
5 changed files with 1145 additions and 1 deletions
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pyproject.toml
+3 -1
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@@ -98,11 +98,13 @@ pygame-dep = ["pygame>=2.5.1,<2.7.0"]
placo-dep = ["placo>=0.9.6,<0.10.0"]
transformers-dep = ["transformers>=4.57.1,<5.0.0"]
grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
can-dep = ["python-can>=4.2.0,<5.0.0"]
# Motors
feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
dynamixel = ["dynamixel-sdk>=3.7.31,<3.9.0"]
damiao = ["python-can>=4.2.0,<5.0.0"]
damiao = ["lerobot[can-dep]"]
robstride = ["lerobot[can-dep]"]
# Robots
openarms = ["lerobot[damiao]"]