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feat(motors): add damiao motors & can bus (#2788)
* fix(motors): cleanup imports + fix signatures * feat(motors): add damiao canbus + multiple fixes * fix(motors): address comments -> last_state + different gains + sleep * refactor(motors): reduce duplicated code + adressed some comments in the PR * chore(motors): better timeouts * tests(motors): damiao test and imports * chore(deps): fix space * Apply suggestions from code review Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> * chore(motors): remove normalization tables damiao * fix(motors): imports and signatures * feat(motors): add motor_type_str + recv_id to motor class and _get_motor_recv_id raises if no motor_obj.recv_id * chore(motors): remove normalize from base motor class and damaio * tests(motors): remove bad tests (to be replaced) * chore(motors): updated import check * use constant for kp and kd range and check responses in mit_control_batch() * Add docs on setting up canbus and use damiao otor bus, also add lerobot_setup_can.py and log if there is not response from a write command * precommit format * supress bandit as these are intentional cli commands * fix setup-can * add test * skip test in ci * nit precommit * update doc example * dont import can for tests --------- Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Pepijn <pepijn@huggingface.co>
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Steven Palma
@@ -115,6 +115,8 @@
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title: Notebooks
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- local: feetech
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title: Updating Feetech Firmware
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- local: damiao
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title: Damiao Motors and CAN Bus
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title: "Resources"
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- sections:
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- local: contributing
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@@ -0,0 +1,165 @@
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# Damiao Motors and CAN Bus
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This guide covers setup and usage of Damiao motors with LeRobot via CAN bus communication.
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Currently, only Linux is supported, as the OpenArms CAN adapter only has drivers for Linux.
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## Linux CAN Setup
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Before using Damiao motors, you need to set up the CAN interface on your Linux system.
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### Install CAN Utilities
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```bash
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sudo apt-get install can-utils
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```
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### Configure CAN Interface (Manual)
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For standard CAN FD (recommended for OpenArms):
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```bash
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sudo ip link set can0 down
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sudo ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on
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sudo ip link set can0 up
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```
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For standard CAN (without FD):
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```bash
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sudo ip link set can0 down
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sudo ip link set can0 type can bitrate 1000000
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sudo ip link set can0 up
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```
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### Configure CAN Interface (Using LeRobot)
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LeRobot provides a utility script to setup and test CAN interfaces:
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```bash
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# Setup multiple interfaces (e.g., OpenArms Followers with 2 CAN buses)
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lerobot-setup-can --mode=setup --interfaces=can0,can1
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```
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## Debugging CAN Communication
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Use the built-in debug tools to test motor communication:
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```bash
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# Test motors on all interfaces
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lerobot-setup-can --mode=test --interfaces=can0,can1
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# Run speed/latency test
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lerobot-setup-can --mode=speed --interfaces=can0
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```
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The test mode will scan for motors (IDs 0x01-0x08) and report which ones respond. Example output:
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```
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can0: UP (CAN FD)
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Motor 0x01 (joint_1): ✓ FOUND
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→ Response 0x11 [FD]: 00112233...
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Motor 0x02 (joint_2): ✓ FOUND
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Motor 0x03 (joint_3): ✗ No response
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...
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Summary: 2/8 motors found
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```
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## Usage
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### Basic Setup
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```python
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from lerobot.motors import Motor
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from lerobot.motors.damiao import DamiaoMotorsBus
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# Define your motors with send/receive CAN IDs
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motors = {
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"joint_1": Motor(id=0x01, motor_type_str="dm8009", recv_id=0x11),
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"joint_2": Motor(id=0x02, motor_type_str="dm4340", recv_id=0x12),
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"joint_3": Motor(id=0x03, motor_type_str="dm4310", recv_id=0x13),
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}
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# Create the bus
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bus = DamiaoMotorsBus(
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port="can0", # Linux socketcan interface
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motors=motors,
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)
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# Connect
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bus.connect()
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```
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### Reading Motor States
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```python
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# Read single motor position (degrees)
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position = bus.read("Present_Position", "joint_1")
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# Read from multiple motors
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positions = bus.sync_read("Present_Position") # All motors
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positions = bus.sync_read("Present_Position", ["joint_1", "joint_2"])
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# Read all states at once (position, velocity, torque)
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states = bus.sync_read_all_states()
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# Returns: {'joint_1': {'position': 45.2, 'velocity': 1.3, 'torque': 0.5}, ...}
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```
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### Writing Motor Commands
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```python
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# Enable torque
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bus.enable_torque()
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# Set goal position (degrees)
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bus.write("Goal_Position", "joint_1", 45.0)
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# Set positions for multiple motors
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bus.sync_write("Goal_Position", {
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"joint_1": 45.0,
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"joint_2": -30.0,
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"joint_3": 90.0,
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})
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# Disable torque
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bus.disable_torque()
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```
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## Configuration Options
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| Parameter | Default | Description |
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| -------------- | --------- | ----------------------------------------------------------- |
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| `port` | - | CAN interface (`can0`) or serial port (`/dev/cu.usbmodem*`) |
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| `use_can_fd` | `True` | Enable CAN FD for higher data rates |
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| `bitrate` | `1000000` | Nominal bitrate (1 Mbps) |
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| `data_bitrate` | `5000000` | CAN FD data bitrate (5 Mbps) |
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## Motor Configuration
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Each motor requires:
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- `id`: CAN ID for sending commands
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- `motor_type`: One of the supported motor types (e.g., `"dm8009"`, `"dm4340"`)
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- `recv_id`: CAN ID for receiving responses
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OpenArms default IDs follow the pattern: send ID `0x0N`, receive ID `0x1N` where N is the joint number.
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## Troubleshooting
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### No Response from Motors
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1. **Check power**
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2. **Verify CAN wiring**: Check CAN-H, CAN-L, and GND connections
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3. **Check motor IDs**: Use Damiao Debugging Tools to verify/configure IDs
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4. **Test CAN interface**: Run `candump can0` to see if messages are being received
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5. **Run diagnostics**: `lerobot-setup-can --mode=test --interfaces=can0`
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### Motor Timeout Parameter
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If motors were configured with timeout=0, they won't respond to commands. Use Damiao Debugging Tools to set a non-zero timeout value.
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### Verify CAN FD Status
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```bash
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ip -d link show can0 | grep fd
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```
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