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add openarms to setup motors

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This commit is contained in:
pepijn kooijmans
2025-11-13 16:26:00 +01:00
committed by Michel Aractingi
parent f58d508df2
commit 894d65d58a
4 changed files with 88 additions and 34 deletions
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examples/openarms/teleop_openarms_mini.py
+81 -33
View File
@@ -10,6 +10,8 @@ The OpenArms Mini has:
"""
import time
import os
import sys
from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
@@ -19,8 +21,8 @@ from lerobot.teleoperators.openarms_mini.config_openarms_mini import OpenArmsMin
# Configure the OpenArms follower (Damiao motors on CAN bus)
follower_config = OpenArmsFollowerConfig(
port_left="can2", # CAN interface for follower left arm
port_right="can3", # CAN interface for follower right arm
port_left="can0", # CAN interface for follower left arm
port_right="can1", # CAN interface for follower right arm
can_interface="socketcan", # Linux SocketCAN
id="openarms_follower",
disable_torque_on_disconnect=True,
@@ -29,9 +31,9 @@ follower_config = OpenArmsFollowerConfig(
# Configure the OpenArms Mini leader (Feetech motors on serial)
leader_config = OpenArmsMiniConfig(
port_right="/dev/ttyUSB0", # Serial port for right arm
port_left="/dev/ttyUSB1", # Serial port for left arm
id="openarms_mini",
port_right="/dev/ttyACM0", # Serial port for right arm
port_left="/dev/ttyACM1", # Serial port for left arm
id="openarms_minis",
use_degrees=True,
)
@@ -81,46 +83,92 @@ loop_times = []
start_time = time.perf_counter()
last_print_time = start_time
JOINT_DIRECTION = {
# invert direction
"right_joint_1": -1,
"right_joint_2": -1,
"right_joint_3": -1,
"right_joint_4": -1,
"right_joint_5": -1,
"left_joint_1": -1,
"left_joint_3": -1,
"left_joint_4": -1,
"left_joint_5": -1,
"left_joint_6": -1,
"left_joint_7": -1,
}
SWAPPED_JOINTS = {
"right_joint_6": "right_joint_7",
"right_joint_7": "right_joint_6",
"left_joint_6": "left_joint_7",
"left_joint_7": "left_joint_6",
}
try:
while True:
loop_start = time.perf_counter()
# Get action from leader (OpenArms Mini)
# Get actions and observations
leader_action = leader.get_action()
# Filter to only position data for all joints (both arms)
follower_obs = follower.get_observation()
joint_action = {}
for joint in all_joints:
pos_key = f"{joint}.pos"
if pos_key in leader_action:
joint_action[pos_key] = leader_action[pos_key]
# Send action to follower (OpenArms)
if joint_action:
follower.send_action(joint_action)
# Measure loop time
leader_key = f"{joint}.pos"
# 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)
# Apply direction reversal if specified
pos *= JOINT_DIRECTION.get(joint, 1)
# Store in action dict for follower
joint_action[follower_key] = pos
#follower.send_action(joint_action)
sys.stdout.write("\033[H\033[J") # Clear screen
print(f"{'Joint':<20} {'Leader (deg)':>15} {'Follower (deg)':>15}")
for joint in all_joints:
leader_key = f"{joint}.pos"
follower_joint = SWAPPED_JOINTS.get(joint, joint)
follower_key = f"{follower_joint}.pos"
leader_pos = leader_action.get(leader_key, 0.0)
follower_pos = follower_obs.get(follower_key, 0.0)
print(f"{joint:<20} {leader_pos:>15.2f} {follower_pos:>15.2f}")
# Loop timing and stats
loop_end = time.perf_counter()
loop_time = loop_end - loop_start
loop_times.append(loop_time)
# Print stats every 2 seconds
if loop_end - last_print_time >= 2.0:
if loop_times:
avg_time = sum(loop_times) / len(loop_times)
current_hz = 1.0 / avg_time if avg_time > 0 else 0
min_time = min(loop_times)
max_time = max(loop_times)
max_hz = 1.0 / min_time if min_time > 0 else 0
min_hz = 1.0 / max_time if max_time > 0 else 0
print(f"[Hz Stats] Avg: {current_hz:.1f} Hz | "
if loop_times:
avg_time = sum(loop_times) / len(loop_times)
current_hz = 1.0 / avg_time if avg_time > 0 else 0
min_time = min(loop_times)
max_time = max(loop_times)
max_hz = 1.0 / min_time if min_time > 0 else 0
min_hz = 1.0 / max_time if max_time > 0 else 0
print(f"\n[Hz Stats] Avg: {current_hz:.1f} Hz | "
f"Range: {min_hz:.1f}-{max_hz:.1f} Hz | "
f"Avg loop time: {avg_time*1000:.1f} ms")
# Reset for next measurement window
loop_times = []
last_print_time = loop_end
loop_times = []
last_print_time = loop_end
time.sleep(0.05) # Small sleep to prevent flooding the terminal
except KeyboardInterrupt:
print("\n\nStopping teleoperation...")
src/lerobot/motors/feetech/feetech.py
+1 -1
View File
@@ -165,7 +165,7 @@ class FeetechMotorsBus(SerialMotorsBus):
def _handshake(self) -> None:
self._assert_motors_exist()
self._assert_same_firmware()
#self._assert_same_firmware()
def _find_single_motor(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]:
if self.protocol_version == 0:
src/lerobot/scripts/lerobot_setup_motors.py
+2
View File
@@ -44,6 +44,7 @@ from lerobot.teleoperators import ( # noqa: F401
omx_leader,
so100_leader,
so101_leader,
openarms_mini
)
COMPATIBLE_DEVICES = [
@@ -56,6 +57,7 @@ COMPATIBLE_DEVICES = [
"so101_follower",
"so101_leader",
"lekiwi",
"openarms_mini",
]
src/lerobot/teleoperators/utils.py
+4
View File
@@ -81,6 +81,10 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
from .reachy2_teleoperator import Reachy2Teleoperator
return Reachy2Teleoperator(config)
elif config.type == "openarms_mini":
from .openarms_mini import OpenArmsMini
return OpenArmsMini(config)
else:
try:
return cast(Teleoperator, make_device_from_device_class(config))