mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-21 11:39:50 +00:00
Martino Russi
80 lines
4.2 KiB
Python
80 lines
4.2 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from dataclasses import dataclass, field
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from typing import Dict
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from ..config import TeleoperatorConfig
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@TeleoperatorConfig.register_subclass("openarms_leader")
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@dataclass
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class OpenArmsLeaderConfig(TeleoperatorConfig):
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"""Configuration for the OpenArms leader/teleoperator with Damiao motors."""
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# CAN interfaces - one per arm
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# Right arm CAN interface (e.g., "can2")
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# Left arm CAN interface (e.g., "can3")
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# Linux: "can0", "can1", etc.
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# macOS: "/dev/cu.usbmodem*" (serial device)
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port_right: str = "can2" # CAN interface for right arm
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port_left: str = "can3" # CAN interface for left arm
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# CAN interface type: "socketcan" (Linux), "slcan" (macOS/serial), or "auto" (auto-detect)
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can_interface: str = "socketcan"
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# CAN FD settings (OpenArms uses CAN FD by default)
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use_can_fd: bool = True
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can_bitrate: int = 1000000 # Nominal bitrate (1 Mbps)
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can_data_bitrate: int = 5000000 # Data bitrate for CAN FD (5 Mbps)
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# Motor configuration for OpenArms (7 DOF per arm)
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# Maps motor names to (send_can_id, recv_can_id, motor_type)
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# Based on: https://docs.openarm.dev/software/setup/configure-test
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# OpenArms uses 4 types of motors:
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# - DM8009 (DM-J8009P-2EC) for shoulders (high torque)
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# - DM4340P and DM4340 for shoulder rotation and elbow
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# - DM4310 (DM-J4310-2EC V1.1) for wrist and gripper
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motor_config: Dict[str, tuple[int, int, str]] = field(default_factory=lambda: {
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"joint_1": (0x01, 0x11, "dm8009"), # J1 - Shoulder pan (DM8009)
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"joint_2": (0x02, 0x12, "dm8009"), # J2 - Shoulder lift (DM8009)
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"joint_3": (0x03, 0x13, "dm4340"), # J3 - Shoulder rotation (DM4340)
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"joint_4": (0x04, 0x14, "dm4340"), # J4 - Elbow flex (DM4340)
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"joint_5": (0x05, 0x15, "dm4310"), # J5 - Wrist roll (DM4310)
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"joint_6": (0x06, 0x16, "dm4310"), # J6 - Wrist pitch (DM4310)
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"joint_7": (0x07, 0x17, "dm4310"), # J7 - Wrist rotation (DM4310)
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"gripper": (0x08, 0x18, "dm4310"), # J8 - Gripper (DM4310)
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})
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# Torque mode settings for manual control
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# When enabled, motors have torque disabled for manual movement
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manual_control: bool = True
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# MIT control parameters (used when manual_control=False for torque control)
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# List of 8 values: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7, gripper]
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position_kp: list[float] = field(default_factory=lambda: [100.0, 100.0, 100.0, 48.0, 24.0, 31.0, 25.0, 16.0])
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position_kd: list[float] = field(default_factory=lambda: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1])
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# Damping gains for stability when applying torque compensation (gravity/friction)
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# Used when kp=0 and only torque is applied
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damping_kd: list[float] = field(default_factory=lambda: [0.5, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.1])
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# Friction model parameters: τ_fric(ω) = Fo + Fv·ω + Fc·tanh(k·ω)
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# From OpenArms config/leader.yaml (note: Fc[5] is slightly different: 0.083 vs 0.093)
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friction_fc: list[float] = field(default_factory=lambda: [0.306, 0.306, 0.40, 0.166, 0.050, 0.083, 0.172, 0.0512]) # Coulomb friction [Nm]
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friction_k: list[float] = field(default_factory=lambda: [28.417, 28.417, 29.065, 130.038, 151.771, 242.287, 7.888, 4.000]) # tanh steepness
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friction_fv: list[float] = field(default_factory=lambda: [0.063, 0.0630, 0.604, 0.813, 0.029, 0.072, 0.084, 0.084]) # Viscous friction [Nm·s/rad]
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friction_fo: list[float] = field(default_factory=lambda: [0.088, 0.088, 0.008, -0.058, 0.005, 0.009, -0.059, -0.050]) # Offset torque [Nm] |