mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-15 16:49:55 +00:00
Merge branch 'main' into feat/training_time_rtc
This commit is contained in:
Pepijn
@@ -101,6 +101,8 @@
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title: Unitree G1
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- local: earthrover_mini_plus
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title: Earth Rover Mini
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- local: omx
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title: OMX
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title: "Robots"
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- sections:
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- local: phone_teleop
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@@ -115,6 +117,8 @@
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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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@@ -1,5 +1,11 @@
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# EarthRover Mini Plus
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<img
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src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Earth_Rover_Mini_5_240c9adc-4f9e-44b7-982f-5d1dc24af1d8.png.webp"
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alt="EarthRover Mini Plus"
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width="70%"
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/>
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The EarthRover Mini Plus is a fully open source mobile robot that connects through the cloud using the Frodobots SDK. This lets you control the robot and record datasets for training AI models.
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## What You Need
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@@ -1,5 +1,11 @@
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# LeKiwi
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<img
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src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/1740517739083.jpeg"
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alt="LeKiwi"
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width="70%"
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/>
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In the steps below, we explain how to assemble the LeKiwi mobile robot.
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## Source the parts
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@@ -42,6 +42,7 @@ lerobot-eval \
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```
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- `--env.task` picks the suite (`libero_object`, `libero_spatial`, etc.).
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- `--env.task_ids` picks task ids to run (`[0]`, `[1,2,3]`, etc.). Omit this flag (or set it to `null`) to run all tasks in the suite.
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- `--eval.batch_size` controls how many environments run in parallel.
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- `--eval.n_episodes` sets how many episodes to run in total.
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@@ -0,0 +1,197 @@
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## Order and Assemble the parts
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First, assemble the OMX hardware following the official assembly guide.
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OMX Assembly Guide: https://ai.robotis.com/omx/assembly_guide_omx.html
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OMX robots are shipped preconfigured from the factory. Motor IDs, communication parameters, and joint offsets are already set, so no additional motor setup or calibration is required before using LeRobot.
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## Install LeRobot 🤗
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To install LeRobot, follow our [Installation Guide](./installation)
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In addition to these instructions, you need to install the Dynamixel SDK:
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```bash
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pip install -e ".[dynamixel]"
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```
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## Connect the robot
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To find the port for each bus servo adapter, run this script:
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```bash
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lerobot-find-port
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```
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This command runs and when prompted, disconnect the USB cable from either the leader or follower arm and press Enter. The output will show 'The port of this MotorsBus is [port]'. This identifies the port for the disconnected arm. Repeat for the other arm to identify both ports.
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<hfoptions id="find_port">
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<hfoption id="Mac">
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Example output on macOS:
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```
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Finding all available ports for the MotorBus.
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['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
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Remove the USB cable from your MotorsBus and press Enter when done.
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[...Disconnect corresponding leader or follower arm and press Enter...]
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The port of this MotorsBus is /dev/tty.usbmodem575E0032081
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Reconnect the USB cable.
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```
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Where the found port is: `/dev/tty.usbmodem575E0032081` corresponding to your leader or follower arm.
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</hfoption>
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<hfoption id="Linux">
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On Linux, we strongly recommend using udev rules to assign persistent and human-readable device names to the OMX leader and follower arms. This avoids issues where device names such as ttyACM0 and ttyACM1 change when the robot is unplugged, replugged, or when the system is rebooted.
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#### 1. Find your device serial numbers
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You should have obtained the port numbers like ../../ttyACM? for the leader and follower using `lerobot-find-port`. You can match those results with the serial numbers using the `ls -l /dev/serial/by-id/` command.
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To create udev rules, you need the unique serial number for each OMX device. The easiest way is to list devices under:
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```bash
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ls -l /dev/serial/by-id/
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```
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You will see output similar to:
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```bash
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usb-ROBOTIS_OpenRB-150_228BDD7B503059384C2E3120FF0A2B19-if00 -> ../../ttyACM0
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usb-ROBOTIS_OpenRB-150_67E1ED68503059384C2E3120FF092234-if00 -> ../../ttyACM1
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```
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In each line, the serial number is the long string after `usb-ROBOTIS_OpenRB-150_` and before `-if00`.
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Follower serial: `228BDD7B503059384C2E3120FF0A2B19`
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Leader serial: `67E1ED68503059384C2E3120FF092234`
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#### 2. Create the udev rule
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Create a new udev rule file:
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```bash
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sudo nano /etc/udev/rules.d/99-omx.rules
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```
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Paste the following lines, replacing the serial numbers with the values you found above:
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```bash
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SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{serial}=="228BDD7B503059384C2E3120FF0A2B19", SYMLINK+="omx_follower"
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SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{serial}=="67E1ED68503059384C2E3120FF092234", SYMLINK+="omx_leader"
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```
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Save the file and reload udev rules:
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```bash
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sudo udevadm control --reload-rules
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sudo udevadm trigger
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```
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Now unplug and replug both devices once.
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#### 3. Verify the symlinks
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Check that the persistent device names exist:
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```bash
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ls -l /dev/omx_follower /dev/omx_leader
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```
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You should see them pointing to ttyACM\* devices:
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```bash
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/dev/omx_follower -> ttyACM*
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/dev/omx_leader -> ttyACM*
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```
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These names remain stable across reboots and reconnections.
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</hfoption>
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</hfoptions>
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## Teleoperate
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After identifying the correct ports, you can directly teleoperate the follower arm using the leader arm.
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<hfoptions id="teleoperate">
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<hfoption id="Mac">
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### Teleoperate without camera
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```bash
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lerobot-teleoperate \
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--robot.type=omx_follower \
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--robot.port=<your_follower_port> \
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--robot.id=omx_follower_arm \
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--teleop.type=omx_leader \
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--teleop.port=<your_leader_port> \
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--teleop.id=omx_leader_arm
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```
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||||
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During teleoperation, motions of the leader arm are mirrored in real time by the follower arm. OMX is already preconfigured, teleoperation can begin immediately without any calibration steps.
|
||||
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||||
### Teleoperate with camera
|
||||
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||||
You can also enable camera input during teleoperation by providing a camera configuration for the follower arm.
|
||||
|
||||
```bash
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lerobot-teleoperate \
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--robot.type=omx_follower \
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--robot.port=<your_follower_port> \
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--robot.id=omx_follower_arm \
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--robot.cameras="{front: {type: opencv, index_or_path: '/dev/video0', width: 640, height: 480, fps: 30}}" \
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--teleop.type=omx_leader \
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--teleop.port=<your_leader_port> \
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||||
--teleop.id=omx_leader_arm \
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--display_data=true
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||||
```
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||||
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||||
When the camera is enabled, the camera stream is displayed in real time and synchronized with the robot state. This setup is useful for visual monitoring and can be reused later for demonstration recording and imitation learning.
|
||||
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||||
</hfoption>
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||||
<hfoption id="Linux">
|
||||
|
||||
### Teleoperate without camera
|
||||
|
||||
```bash
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||||
lerobot-teleoperate \
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||||
--robot.type=omx_follower \
|
||||
--robot.port=/dev/omx_follower \
|
||||
--robot.id=omx_follower_arm \
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||||
--teleop.type=omx_leader \
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||||
--teleop.port=/dev/omx_leader \
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||||
--teleop.id=omx_leader_arm
|
||||
```
|
||||
|
||||
During teleoperation, motions of the leader arm are mirrored in real time by the follower arm. OMX is already preconfigured, teleoperation can begin immediately without any calibration steps.
|
||||
|
||||
### Teleoperate with camera
|
||||
|
||||
You can also enable camera input during teleoperation by providing a camera configuration for the follower arm.
|
||||
|
||||
```bash
|
||||
lerobot-teleoperate \
|
||||
--robot.type=omx_follower \
|
||||
--robot.port=/dev/omx_follower \
|
||||
--robot.id=omx_follower_arm \
|
||||
--robot.cameras="{front: {type: opencv, index_or_path: '/dev/video0', width: 640, height: 480, fps: 30}}" \
|
||||
--teleop.type=omx_leader \
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||||
--teleop.port=/dev/omx_leader \
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||||
--teleop.id=omx_leader_arm \
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||||
--display_data=true
|
||||
```
|
||||
|
||||
When the camera is enabled, the camera stream is displayed in real time and synchronized with the robot state. This setup is useful for visual monitoring and can be reused later for demonstration recording and imitation learning.
|
||||
|
||||
</hfoption>
|
||||
</hfoptions>
|
||||
|
||||
Congrats 🎉, your robot is all set to learn a task on its own.
|
||||
|
||||
> If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/robotis).
|
||||
@@ -1,5 +1,18 @@
|
||||
# SO-101
|
||||
|
||||
<div style="display: flex; align-items: center; gap: 10px;">
|
||||
<img
|
||||
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/SO101_Follower.webp"
|
||||
alt="SO-101"
|
||||
width="60%"
|
||||
/>
|
||||
<img
|
||||
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/SO101_Leader.webp"
|
||||
alt="SO-101"
|
||||
width="60%"
|
||||
/>
|
||||
</div>
|
||||
|
||||
In the steps below, we explain how to assemble our flagship robot, the SO-101.
|
||||
|
||||
## Source the parts
|
||||
|
||||
Reference in New Issue
Block a user