integrate agilex piper arm into lerobot

2025-03-02 15:14:04 +08:00
parent 800c4a847f
commit 7dd20d6ed9
16 changed files with 1263 additions and 343 deletions
--- a/lerobot/common/robot_devices/motors/configs.py
+++ b/lerobot/common/robot_devices/motors/configs.py
@@ -25,3 +25,10 @@ class FeetechMotorsBusConfig(MotorsBusConfig):
    port: str
    motors: dict[str, tuple[int, str]]
    mock: bool = False
+
+
+@MotorsBusConfig.register_subclass("piper")
+@dataclass
+class PiperMotorsBusConfig(MotorsBusConfig):
+    can_name: str
+    motors: dict[str, tuple[int, str]]