admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-15 08:39:49 +00:00
Code Issues Packages Projects Releases Wiki Activity

add default mini arms

Browse Source
This commit is contained in:
croissant
2025-11-21 17:57:09 +01:00
committed by Michel Aractingi
parent 19fe69dac0
commit e38f56c071
1 changed files with 67 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/openarms_web_interface/App.jsx
+67 -12
View File
@@ -46,7 +46,13 @@ function App() {
try {
const saved = localStorage.getItem('openarms_config');
if (saved) {
setConfig(prev => ({ ...prev, ...JSON.parse(saved) }));
const loadedConfig = JSON.parse(saved);
// If OpenArms Mini is selected, ensure followers are set to can0/can1
if (loadedConfig.leader_type === 'openarms_mini') {
loadedConfig.follower_left = 'can0';
loadedConfig.follower_right = 'can1';
}
setConfig(prev => ({ ...prev, ...loadedConfig }));
}
} catch (e) {
console.error('Load config error:', e);
@@ -87,6 +93,11 @@ function App() {
if (!localStorage.getItem('openarms_config')) {
setConfig(prev => {
const merged = { ...data.config, ...prev };
// If OpenArms Mini is selected, ensure followers are set to can0/can1
if (merged.leader_type === 'openarms_mini') {
merged.follower_left = 'can0';
merged.follower_right = 'can1';
}
localStorage.setItem('openarms_config', JSON.stringify(merged));
return merged;
});
@@ -379,6 +390,27 @@ function App() {
useEffect(() => {
if (config.leader_type === 'openarms_mini') {
discoverUsbPorts();
// Explicitly set follower CAN interfaces when using OpenArms Mini
// Followers MUST use can0 = left arm, can1 = right arm
// Force these values even if they were previously different
const updated = {
...config,
follower_left: 'can0', // Explicitly set left follower to can0
follower_right: 'can1' // Explicitly set right follower to can1
};
setConfig(updated);
saveConfig(updated);
} else {
// When switching back to OpenArms, restore CAN interface defaults
const updated = {
...config,
leader_left: canInterfaces.includes(config.leader_left) ? config.leader_left : 'can0',
leader_right: canInterfaces.includes(config.leader_right) ? config.leader_right : 'can1',
follower_left: 'can2', // OpenArms standard: followers on can2/can3
follower_right: 'can3'
};
setConfig(updated);
saveConfig(updated);
}
// eslint-disable-next-line react-hooks/exhaustive-deps
}, [config.leader_type]);
@@ -456,7 +488,7 @@ function App() {
<div style={{ display: 'flex', justifyContent: 'space-between', alignItems: 'center', marginBottom: '0.5rem' }}>
<h3>
{config.leader_type === 'openarms_mini'
? `Leader Ports (USB) ${availableUsbPorts.length > 0 ? `(${availableUsbPorts.length} detected)` : ''}`
? `Leader Ports (USB/Serial) ${availableUsbPorts.length > 0 ? `(${availableUsbPorts.length} detected)` : ''}`
: 'Leader Interfaces (CAN)'}
</h3>
{config.leader_type === 'openarms_mini' && (
@@ -469,6 +501,7 @@ function App() {
</button>
)}
</div>
<div className="config-grid">
<label>
Leader Left
@@ -521,30 +554,52 @@ function App() {
{/* Follower CAN Interfaces */}
<div className="config-section">
<h3>Follower Interfaces (CAN)</h3>
{config.leader_type === 'openarms_mini' && (
<div style={{
backgroundColor: '#fff4e6',
padding: '0.75rem',
borderRadius: '4px',
marginBottom: '0.75rem',
fontSize: '0.9rem',
border: '1px solid #ffd699'
}}>
🔒 <strong>Auto-assigned:</strong> Follower ports are fixed as can0 (left) and can1 (right) when using OpenArms Mini
</div>
)}
<div className="config-grid">
<label>
Follower Left
<select
value={config.follower_left}
value={config.leader_type === 'openarms_mini' ? 'can0' : config.follower_left}
onChange={(e) => updateConfig('follower_left', e.target.value)}
disabled={isRecording || robotsReady}
disabled={isRecording || robotsReady || config.leader_type === 'openarms_mini'}
>
{canInterfaces.map((iface) => (
<option key={iface} value={iface}>{iface}</option>
))}
{config.leader_type === 'openarms_mini' ? (
<option value="can0">can0 (Auto-assigned)</option>
) : (
canInterfaces.map((iface) => (
<option key={iface} value={iface}>{iface}</option>
))
)}
</select>
</label>
<label>
Follower Right
<select
value={config.follower_right}
value={config.leader_type === 'openarms_mini' ? 'can1' : config.follower_right}
onChange={(e) => updateConfig('follower_right', e.target.value)}
disabled={isRecording || robotsReady}
disabled={isRecording || robotsReady || config.leader_type === 'openarms_mini'}
>
{canInterfaces.map((iface) => (
<option key={iface} value={iface}>{iface}</option>
))}
{config.leader_type === 'openarms_mini' ? (
<option value="can1">can1 (Auto-assigned)</option>
) : (
canInterfaces.map((iface) => (
<option key={iface} value={iface}>{iface}</option>
))
)}
</select>
</label>
</div>