Add myarm.yaml initial implementation

lerobot/common/robot_devices/motors/myarm.py

@@ -30,6 +30,11 @@ def __init__(
     def connect(self) -> None:
         pass
 
+    def set_up_presets(self) -> None:
+        """Optional. Override this method to do further set up on a device."""
+
+
+
 
 class MyArmLeader(MyArmBaseClass):
     _handle: acton_ai.MyArmC

lerobot/common/robot_devices/robots/manipulator.py

@@ -81,7 +81,7 @@ def __setattr__(self, prop: str, val):
         super().__setattr__(prop, val)
 
     def __post_init__(self):
-        if self.robot_type not in ["koch", "koch_bimanual", "aloha", "so100", "moss"]:
+        if self.robot_type not in ["koch", "koch_bimanual", "aloha", "so100", "moss", "myarm"]:
             raise ValueError(f"Provided robot type ({self.robot_type}) is not supported.")
 
 
@@ -268,6 +268,8 @@ def connect(self):
             from lerobot.common.robot_devices.motors.dynamixel import TorqueMode
         elif self.robot_type in ["so100", "moss"]:
             from lerobot.common.robot_devices.motors.feetech import TorqueMode
+        elif self.robot_type == "myarm":
+            from lerobot.common.robot_devices.motors.myarm import TorqueMode
 
         # We assume that at connection time, arms are in a rest position, and torque can
         # be safely disabled to run calibration and/or set robot preset configurations.
@@ -285,6 +287,8 @@ def connect(self):
             self.set_aloha_robot_preset()
         elif self.robot_type in ["so100", "moss"]:
             self.set_so100_robot_preset()
+        elif self.robot_type == "myarm":
+            self.set_myarm_robot_preset()
 
         # Enable torque on all motors of the follower arms
         for name in self.follower_arms:
@@ -465,6 +469,15 @@ def set_so100_robot_preset(self):
             self.follower_arms[name].write("Maximum_Acceleration", 254)
             self.follower_arms[name].write("Acceleration", 254)
 
+    def set_myarm_robot_preset(self):
+        for name, robot in self.follower_arms.items():
+            logging.info(f"Setting up {name} follower arm.")
+            robot.set_up_presets()
+
+        for name, robot in self.leader_arms.items():
+            logging.info(f"Setting up {name} leader arm.")
+            robot.set_up_presets()
+
     def teleop_step(
         self, record_data=False
     ) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]:

lerobot/configs/robot/myarm.yaml

@@ -0,0 +1,59 @@
+# [MyArm Robot Arm Tooling](https://github.com/apockill/acton_ai)
+
+# Requires installing extras packages
+# With pip: `pip install -e ".[feetech]"`
+# With poetry: `poetry install --sync --extras "feetech"`
+
+# TODO: Make tutorial
+# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/12_use_myarm.md)
+
+_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
+robot_type: myarm
+calibration_dir: .cache/calibration/myarm
+
+# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+# the number of motors in your follower arms.
+max_relative_target: null
+
+leader_arms:
+  main:
+    _target_: lerobot.common.robot_devices.motors.myarm.MyArmLeader
+    port: null  # If null, MyArmM serial port is automatically discovered
+    motors:
+      # name: (index, model)
+      joint1: [1, "myarm"]
+      joint2: [2, "myarm"]
+      joint3: [3, "myarm"]
+      joint4: [4, "myarm"]
+      joint5: [5, "myarm"]
+      joint6: [6, "myarm"]
+      gripper: [7, "myarm"]
+
+follower_arms:
+  main:
+    _target_: lerobot.common.robot_devices.motors.myarm.MyArmFollower
+    port: null  # If null, MyArmC serial port is automatically discovered
+    motors:
+      # name: (index, model)
+      joint1: [1, "myarm"]
+      joint2: [2, "myarm"]
+      joint3: [3, "myarm"]
+      joint4: [4, "myarm"]
+      joint5: [5, "myarm"]
+      joint6: [6, "myarm"]
+      gripper: [7, "myarm"]
+
+cameras:
+  top:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 0
+    fps: 30
+    width: 640
+    height: 480
+  wrist:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 1
+    fps: 30
+    width: 640
+    height: 480