mirror of
https://github.com/huggingface/lerobot.git
synced 2026-08-06 00:19:47 +00:00
Martino Russi
ea5cabe6ff
Expose optional URDF-based forward/inverse kinematics for the OpenArm follower so it can be recorded/commanded in end-effector (Cartesian) space, mirroring the SO-100 kinematics pattern. - config: add optional urdf_path / target_frame_name fields - robot: add arm_motor_names property and make_kinematics() helper that builds a RobotKinematics solver (lazy import; placo only needed when used) No behavior change when urdf_path is unset (joint-space only). Co-authored-by: Cursor <cursoragent@cursor.com>
135 lines
5.4 KiB
Python
135 lines
5.4 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 lerobot.cameras import CameraConfig
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from ..config import RobotConfig
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LEFT_DEFAULT_JOINTS_LIMITS: dict[str, tuple[float, float]] = {
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"joint_1": (-75.0, 75.0),
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"joint_2": (-90.0, 9.0),
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"joint_3": (-85.0, 85.0),
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"joint_4": (0.0, 135.0),
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"joint_5": (-85.0, 85.0),
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"joint_6": (-40.0, 40.0),
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"joint_7": (-80.0, 80.0),
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"gripper": (-65.0, 0.0),
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}
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RIGHT_DEFAULT_JOINTS_LIMITS: dict[str, tuple[float, float]] = {
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"joint_1": (-75.0, 75.0),
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"joint_2": (-9.0, 90.0),
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"joint_3": (-85.0, 85.0),
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"joint_4": (0.0, 135.0),
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"joint_5": (-85.0, 85.0),
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"joint_6": (-40.0, 40.0),
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"joint_7": (-80.0, 80.0),
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"gripper": (-65.0, 0.0),
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}
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@dataclass
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class OpenArmFollowerConfigBase:
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"""Base configuration for the OpenArms follower robot with Damiao motors."""
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# CAN interfaces - one per arm
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# arm CAN interface (e.g., "can1")
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# Linux: "can0", "can1", etc.
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port: str
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# side of the arm: "left" or "right". If "None" default values will be used
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side: str | None = None
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# CAN interface type: "socketcan" (Linux), "slcan" (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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# Whether to disable torque when disconnecting
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disable_torque_on_disconnect: bool = True
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# When True, expose `.vel` and `.torque` per motor in observation features.
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# Default False for compatibility with the position-only openarm_mini teleoperator.
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use_velocity_and_torque: bool = False
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# Safety limit for relative target positions
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# Set to a positive scalar for all motors, or a dict mapping motor names to limits
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max_relative_target: float | dict[str, float] | None = None
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# End-effector kinematics (optional). Point `urdf_path` at the OpenArm URDF and set
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# `target_frame_name` to the end-effector link in that URDF to enable forward/inverse
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# kinematics in Cartesian (EE) space -- via `lerobot.model.RobotKinematics` and the
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# shared FK/IK processor steps. Left as None, the robot behaves exactly as before
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# (joint space only). The URDF is user-supplied, so no large asset is vendored here.
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urdf_path: str | None = None
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target_frame_name: str | None = None
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# Camera configurations
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cameras: dict[str, CameraConfig] = field(default_factory=dict)
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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(
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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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)
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# MIT control parameters for position control (used in send_action)
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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(
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default_factory=lambda: [240.0, 240.0, 240.0, 240.0, 24.0, 31.0, 25.0, 25.0]
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)
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position_kd: list[float] = field(default_factory=lambda: [5.0, 5.0, 3.0, 5.0, 0.3, 0.3, 0.3, 0.3])
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# Values for joint limits. Can be overridden via CLI (for custom values) or by setting config.side to either 'left' or 'right'.
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# If config.side is left set to None and no CLI values are passed, the default joint limit values are small for safety.
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joint_limits: dict[str, tuple[float, float]] = field(
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default_factory=lambda: {
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"joint_1": (-5.0, 5.0),
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"joint_2": (-5.0, 5.0),
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"joint_3": (-5.0, 5.0),
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"joint_4": (0.0, 5.0),
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"joint_5": (-5.0, 5.0),
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"joint_6": (-5.0, 5.0),
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"joint_7": (-5.0, 5.0),
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"gripper": (-5.0, 0.0),
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}
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)
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@RobotConfig.register_subclass("openarm_follower")
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@dataclass
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class OpenArmFollowerConfig(RobotConfig, OpenArmFollowerConfigBase):
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pass
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