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CarolinePascal
ec66ca42bb
Add the lerobot_robot_ax_arm package with the AXArm robot, its config, URDF joint mapping, an end-effector keyboard teleop example, and packaging metadata.
50 lines
1.4 KiB
Markdown
50 lines
1.4 KiB
Markdown
# lerobot_robot_ax_arm
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A third-party [LeRobot](https://github.com/huggingface/lerobot) robot: a 4-DoF arm driven by Dynamixel
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AX-series servos (e.g. AX-12A) over **Protocol 1.0**.
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| Motor ID | Joint | Normalization |
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| -------- | --------------- | ------------- |
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| 1 | `shoulder_pan` | [-100, 100] |
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| 2 | `shoulder_lift` | [-100, 100] |
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| 3 | `elbow_flex` | [-100, 100] |
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| 4 | `gripper` | [0, 100] |
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## Protocol 1.0 notes
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AX-series motors differ from the X-series (Protocol 2.0) used elsewhere in LeRobot:
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- **No Sync Read** — positions are read sequentially (`get_observation` / calibration). Sync Write is still
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used for `Goal_Position`.
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- **No `Operating_Mode` / PID registers** — `configure()` only lowers the return delay time.
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- **No homing offset register** — calibration records the range of motion only (`homing_offset = 0`) and is
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stored via the CW/CCW angle limits.
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## Install
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```bash
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pip install -e .
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```
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This is discovered automatically by LeRobot thanks to the `lerobot_robot_` package prefix.
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## Usage
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```bash
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lerobot-record \
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--robot.type=ax_arm \
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--robot.port=/dev/tty.usbserial-AL02L1E0 \
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# ... other arguments
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```
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Or from Python:
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```python
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from lerobot_robot_ax_arm import AXArm, AXArmConfig
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robot = AXArm(AXArmConfig(port="/dev/tty.usbserial-AL02L1E0"))
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robot.connect()
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obs = robot.get_observation()
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robot.disconnect()
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```
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