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add openarms mini

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This commit is contained in:
pepijn kooijmans
2025-11-21 11:48:52 +01:00
parent 64172756a7
commit 88bc763033
3 changed files with 466 additions and 155 deletions
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examples/openarms/teleop_openarms_mini.py
+4 -6
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@@ -39,9 +39,9 @@ follower_config = OpenArmsFollowerConfig(
# Configure the OpenArms Mini leader (Feetech motors on serial)
leader_config = OpenArmsMiniConfig(
port_right="/dev/ttyACM0", # Serial port for right arm
port_left="/dev/ttyACM1", # Serial port for left arm
id="openarms_minis",
port_right="/dev/ttyACM1", # Serial port for right arm
port_left="/dev/ttyACM0", # Serial port for left arm
id="openarms_mini",
use_degrees=True,
)
@@ -131,8 +131,6 @@ try:
# Determine which follower joint this leader joint controls
follower_joint = SWAPPED_JOINTS.get(joint, joint)
follower_key = f"{follower_joint}.pos"
if "left" in follower_key:
continue
# Get leader position (default 0 if missing)
pos = leader_action.get(leader_key, 0.0)
@@ -149,7 +147,7 @@ try:
# Store in action dict for follower
joint_action[follower_key] = pos
#follower.send_action(joint_action)
follower.send_action(joint_action)
# Loop timing
loop_end = time.perf_counter()