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croissant
2025-10-31 10:01:41 +01:00
committed by Michel Aractingi
parent b011643dc9
commit fa6a2fb9b7
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docs/source/openarms.mdx
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@@ -34,51 +34,7 @@ Each arm has the following motor configuration based on the [OpenArm setup guide
For dual arm setups, the left arm uses IDs 0x09-0x10 for joints 1-8 with the same motor types.
## Quick Start (macOS)
If you're on macOS, here's the fastest way to get started:
```bash
# 1. Install LeRobot with OpenArms dependencies
pip install -e ".[openarms]"
# 2. Find your USB-CAN adapter
ls /dev/cu.usbmodem*
# 3. Test communication
python3 -c "
import can
bus = can.interface.Bus(channel='/dev/cu.usbmodem00000000050C1', interface='slcan', bitrate=1000000)
print('✓ CAN interface connected')
bus.shutdown()
"
```
Then use this configuration:
```python
from lerobot.robots.openarms import OpenArmsFollower
from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
config = OpenArmsFollowerConfig(
port="/dev/cu.usbmodem00000000050C1", # Your adapter
can_interface="auto", # Auto-detects slcan for /dev/* ports
is_dual_arm=True,
)
robot = OpenArmsFollower(config)
robot.connect()
```
## Prerequisites
### Software Requirements
**Linux:**
- Ubuntu 22.04/24.04 (or any Linux with SocketCAN)
- Python 3.8+
- `can-utils` and `iproute2` packages
- LeRobot with OpenArms dependencies
## Quick Start
```bash
# Install system dependencies
@@ -88,26 +44,6 @@ sudo apt install can-utils iproute2
pip install -e ".[openarms]"
```
**macOS:**
- macOS 12+ (Monterey or later)
- Python 3.8+
- LeRobot with OpenArms dependencies
```bash
# Install LeRobot with OpenArms support (includes python-can)
pip install -e ".[openarms]"
```
The `openarms` extra installs:
- `python-can>=4.2.0` - CAN bus communication library (supports SocketCAN on Linux and SLCAN on macOS)
:::tip
If you've already installed LeRobot and want to add OpenArms support, run:
```bash
pip install -e ".[openarms]"
```
:::
## Setup Guide
### Step 1: Motor ID Configuration
@@ -117,10 +53,9 @@ pip install -e ".[openarms]"
Refer to the [OpenArm Motor ID Configuration Guide](https://docs.openarm.dev/software/setup/motor-id) for detailed instructions using the Damiao Debugging Tools on Windows.
Key points:
- Each motor needs a unique **Sender CAN ID** (0x01-0x08 for first arm)
- Each motor needs a unique **Receiver/Master ID** (0x11-0x18 for first arm)
- Each motor needs a unique **Sender CAN ID** (0x01-0x08)
- Each motor needs a unique **Receiver/Master ID** (0x11-0x18)
- Use the Damiao Debugging Tools to set these IDs
- For dual arm setups, use 0x09-0x10 for the second arm
### Step 2: Setup CAN Interface
@@ -132,95 +67,39 @@ Configure your CAN interface as described in the [OpenArm CAN Setup Guide](https
# Find your CAN interface
ip link show
# Setup CAN 2.0 at 1 Mbps (standard)
# Configure can0, 1, 2, 3
sudo ip link set can0 down
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up
sudo ip link set can1 down
sudo ip link set can1 type can bitrate 1000000
sudo ip link set can1 up
sudo ip link set can2 down
sudo ip link set can2 type can bitrate 1000000
sudo ip link set can2 up
sudo ip link set can3 down
sudo ip link set can3 type can bitrate 1000000
sudo ip link set can3 up
# Verify configuration
ip link show can0
```
#### macOS
or run:
macOS doesn't have native SocketCAN support.
`examples/openarms/setup_can.sh`
**Use SLCAN (Serial Line CAN)**
### Testing canbus and motor connection
For USB-CAN adapters that support SLCAN protocol (like CANable):
```bash
# Install python-can if not already installed
pip install python-can
# The adapter will appear as a serial device
ls /dev/cu.usbmodem*
# Use with python-can slcan interface
# Example: /dev/cu.usbmodem14201
```
In your code, specify the slcan interface:
```python
from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
config = OpenArmsFollowerConfig(
port="/dev/cu.usbmodem14201", # Your USB-CAN adapter
can_interface="slcan", # Will auto-detect if set to "auto"
)
```
### Step 3: Test Motor Communication
**On Linux:**
Test basic communication as described in the [OpenArm Motor Test Guide](https://docs.openarm.dev/software/setup/configure-test):
```bash
# Terminal 1: Monitor CAN traffic
candump can0
# Terminal 2: Enable motor 1
cansend can0 001#FFFFFFFFFFFFFFFC
# Expected response on Terminal 1:
# can0 011 [8] XX XX XX XX XX XX XX XX
# Disable motor 1
cansend can0 001#FFFFFFFFFFFFFFFD
```
**On macOS:**
Testing is done differently since you'll use serial-based adapters:
```bash
# Find your USB-CAN adapter
ls /dev/cu.usbmodem*
# Example output: /dev/cu.usbmodem00000000050C1
# Test with Python directly (can-utils don't work on macOS)
python3 -c "
import can
bus = can.interface.Bus(channel='/dev/cu.usbmodem00000000050C1', interface='slcan', bitrate=1000000)
msg = can.Message(arbitration_id=0x01, data=[0xFF]*7+[0xFC])
bus.send(msg)
response = bus.recv(timeout=1.0)
if response:
print(f'✓ Motor responded: ID 0x{response.arbitration_id:02X}')
else:
print('✗ No response')
bus.shutdown()
"
```
Please run this script to check if all motors can be found and to find your can-fd speed: `python examples/openarms/debug_can_communication.py`
## Usage
### Basic Setup
**On Linux:**
```python
from lerobot.robots.openarms import OpenArmsFollower
@@ -238,26 +117,6 @@ robot = OpenArmsFollower(config)
robot.connect()
```
**On macOS:**
```python
from lerobot.robots.openarms import OpenArmsFollower
from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
# Find your USB-CAN adapter first
# ls /dev/cu.usbmodem*
config = OpenArmsFollowerConfig(
port="/dev/cu.usbmodem14201", # Your adapter's serial port
can_interface="slcan", # Or "auto" for auto-detection
id="openarms_dual",
is_dual_arm=True,
)
robot = OpenArmsFollower(config)
robot.connect()
```
### Calibration
On first use, you'll need to calibrate the robot:
@@ -424,53 +283,6 @@ follower_config = OpenArmsFollowerConfig(
## Troubleshooting
### Motors Not Responding
**Linux:**
1. **Check power supply**: 24V with sufficient current
2. **Verify CAN interface**: `ip link show can0` should show "UP"
3. **Test with cansend**: Follow [motor test guide](https://docs.openarm.dev/software/setup/configure-test)
4. **Check motor IDs**: Use Damiao Debugging Tools to verify IDs
5. **Check termination**: 120Ω resistor should be enabled on CAN interface
**macOS:**
1. **Check power supply**: 24V with sufficient current
2. **Find adapter**: `ls /dev/cu.usbmodem*` should show your device
3. **Test connection**: Use Python script above to test communication
4. **Check motor IDs**: Use Damiao Debugging Tools on Windows
5. **Verify drivers**: Ensure USB-CAN adapter drivers are installed
6. **Try different baudrate**: Some adapters default to different rates
### macOS-Specific Issues
**"No such interface" error:**
```python
# Try auto-detection
config.can_interface = "auto"
# Or explicitly list available interfaces
import can
print(can.detect_available_configs())
```
**Permission denied on `/dev/cu.*`:**
```bash
# Add user to dialout group (if applicable)
sudo dscl . -append /Groups/_dialout GroupMembership $USER
# Or run with sudo (not recommended)
sudo python your_script.py
```
**Adapter not showing up:**
```bash
# Check USB devices
system_profiler SPUSBDataType
# Reinstall python-can
pip install --upgrade --force-reinstall python-can
```
### Motor Shaking/Unstable
- **Lower control gains**: Reduce `position_kp` and `position_kd`
@@ -480,7 +292,6 @@ pip install --upgrade --force-reinstall python-can
### CAN Bus Errors
**Linux:**
```bash
# Check for errors
ip -s link show can0
@@ -490,30 +301,6 @@ sudo ip link set can0 down
sudo ip link set can0 up
```
**macOS:**
```bash
# Reconnect USB adapter
# Unplug and replug the USB cable
# Restart Python script
# The slcan interface auto-reconnects
```
### Position Drift
- **Re-calibrate**: Run calibration procedure
- **Set zero position**: Use `robot.bus.set_zero_position()` with arm in known position
- **Check temperature**: Motors may drift when hot
## Technical Details
### Position Units
All positions are in **degrees**:
- Motor internal representation: radians
- User API: degrees
- Automatic conversion handled by `DamiaoMotorsBus`
### Control Mode
OpenArms uses **MIT control mode** which allows simultaneous control of: