add openarms to setup motors

src/lerobot/motors/feetech/feetech.py

@@ -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

@@ -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

@@ -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))