mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-20 11:09:59 +00:00
Steven Palma
4483184875
* 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 * feat(robot): add openarm leader Co-authored-by: Pepijn <pepijn@huggingface.co> * feat(robot): add openarm follower Co-authored-by: Pepijn <pepijn@huggingface.co> * refactor(robot): remove mechanical compensations and double arm assumption + rename * chore(robots): remove left arm references * refactor(teleop): multiple improvements to leader * refactor(teleop): multiple improvements to leader * feat(robots): add open arm to util CLI * chore(robot): add alias openarm * 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 * fix(robots): open arm mirrored config for joint limits * chore(motors): update position_kd gain values * chore(robots): set to 0 if openarm is calibrated at connect time * chore(robots): remove macos in open arm as can doesn't support it * chore(robots): update for motor_type_str in Motor class * chore(robots): no default value for can port in open arms * feat(robots): add bi manual openarm follower and leader * 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 * remove comment * Add openarms docs * format * update purchase link * can to none if nit availabl;e * add canfd option in bus * make handshake logic similar to lerobot-can * type hint * type check * add temp teleop test * remove script * mock class * mock class * ignore linter * pre-commit * Add command for bimanual openarm * fix import * fix import leader * fix import draccus --------- Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: Pepijn <pepijn@huggingface.co> Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
21 lines
852 B
Python
21 lines
852 B
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 .config_openarm_follower import OpenArmFollowerConfig, OpenArmFollowerConfigBase
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from .openarm_follower import OpenArmFollower
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__all__ = ["OpenArmFollower", "OpenArmFollowerConfig", "OpenArmFollowerConfigBase"]
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