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feat(robots): add OpenArm robot & teleoperator (#2795)

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* 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

* 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

* ignore linter

---------

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>
This commit is contained in:
Steven Palma
2026-01-28 14:28:51 +01:00
committed by GitHub
parent 736b43f3cf
commit bf337e716d
18 changed files with 1129 additions and 22 deletions
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12
src/lerobot/processor/hil_processor.py
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@@ -18,16 +18,18 @@
import math
import time
from dataclasses import dataclass
from typing import Any, Protocol, TypeVar, runtime_checkable
from typing import TYPE_CHECKING, Any, Protocol, TypeVar, runtime_checkable
import numpy as np
import torch
import torchvision.transforms.functional as F # noqa: N812
from lerobot.configs.types import PipelineFeatureType, PolicyFeature
from lerobot.teleoperators.teleoperator import Teleoperator
from lerobot.teleoperators.utils import TeleopEvents
if TYPE_CHECKING:
from lerobot.teleoperators.teleoperator import Teleoperator
from .core import EnvTransition, PolicyAction, TransitionKey
from .pipeline import (
ComplementaryDataProcessorStep,
@@ -69,10 +71,10 @@ class HasTeleopEvents(Protocol):
# Type variable constrained to Teleoperator subclasses that also implement events
TeleopWithEvents = TypeVar("TeleopWithEvents", bound=Teleoperator)
TeleopWithEvents = TypeVar("TeleopWithEvents", bound="Teleoperator")
def _check_teleop_with_events(teleop: Teleoperator) -> None:
def _check_teleop_with_events(teleop: "Teleoperator") -> None:
"""
Runtime check that a teleoperator implements the `HasTeleopEvents` protocol.
@@ -103,7 +105,7 @@ class AddTeleopActionAsComplimentaryDataStep(ComplementaryDataProcessorStep):
teleop_device: The teleoperator instance to get the action from.
"""
teleop_device: Teleoperator
teleop_device: "Teleoperator"
def complementary_data(self, complementary_data: dict) -> dict:
"""