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<meta charset="utf-8" /><meta name="hf:doc:metadata" content="{&quot;title&quot;:&quot;OpenArm&quot;,&quot;local&quot;:&quot;openarm&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;What’s Unique?&quot;,&quot;local&quot;:&quot;whats-unique&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Platform Requirements&quot;,&quot;local&quot;:&quot;platform-requirements&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Safety Guide&quot;,&quot;local&quot;:&quot;safety-guide&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Hardware Setup&quot;,&quot;local&quot;:&quot;hardware-setup&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;CAN Bus Setup&quot;,&quot;local&quot;:&quot;can-bus-setup&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Install LeRobot 🤗&quot;,&quot;local&quot;:&quot;install-lerobot-&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Usage&quot;,&quot;local&quot;:&quot;usage&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;Follower Arm (Robot)&quot;,&quot;local&quot;:&quot;follower-arm-robot&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Leader Arm (Teleoperator)&quot;,&quot;local&quot;:&quot;leader-arm-teleoperator&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Teleoperation&quot;,&quot;local&quot;:&quot;teleoperation&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Bimanual Teleoperation&quot;,&quot;local&quot;:&quot;bimanual-teleoperation&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Recording Data&quot;,&quot;local&quot;:&quot;recording-data&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3}],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Configuration Options&quot;,&quot;local&quot;:&quot;configuration-options&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;Follower Configuration&quot;,&quot;local&quot;:&quot;follower-configuration&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Leader Configuration&quot;,&quot;local&quot;:&quot;leader-configuration&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3}],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Motor Configuration&quot;,&quot;local&quot;:&quot;motor-configuration&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Troubleshooting&quot;,&quot;local&quot;:&quot;troubleshooting&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;No Response from Motors&quot;,&quot;local&quot;:&quot;no-response-from-motors&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;CAN Interface Not Found&quot;,&quot;local&quot;:&quot;can-interface-not-found&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3}],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Resources&quot;,&quot;local&quot;:&quot;resources&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2}],&quot;depth&quot;:1}">
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 <link rel="modulepreload" href="/docs/lerobot/pr_3313/en/_app/immutable/chunks/HfOption.0914e9f3.js"><!-- HEAD_svelte-u9bgzb_START --><meta name="hf:doc:metadata" content="{&quot;title&quot;:&quot;OpenArm&quot;,&quot;local&quot;:&quot;openarm&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;What’s Unique?&quot;,&quot;local&quot;:&quot;whats-unique&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Platform Requirements&quot;,&quot;local&quot;:&quot;platform-requirements&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Safety Guide&quot;,&quot;local&quot;:&quot;safety-guide&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Hardware Setup&quot;,&quot;local&quot;:&quot;hardware-setup&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;CAN Bus Setup&quot;,&quot;local&quot;:&quot;can-bus-setup&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Install LeRobot 🤗&quot;,&quot;local&quot;:&quot;install-lerobot-&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Usage&quot;,&quot;local&quot;:&quot;usage&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;Follower Arm (Robot)&quot;,&quot;local&quot;:&quot;follower-arm-robot&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Leader Arm (Teleoperator)&quot;,&quot;local&quot;:&quot;leader-arm-teleoperator&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Teleoperation&quot;,&quot;local&quot;:&quot;teleoperation&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Bimanual Teleoperation&quot;,&quot;local&quot;:&quot;bimanual-teleoperation&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Recording Data&quot;,&quot;local&quot;:&quot;recording-data&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3}],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Configuration Options&quot;,&quot;local&quot;:&quot;configuration-options&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;Follower Configuration&quot;,&quot;local&quot;:&quot;follower-configuration&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;Leader Configuration&quot;,&quot;local&quot;:&quot;leader-configuration&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3}],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Motor Configuration&quot;,&quot;local&quot;:&quot;motor-configuration&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Troubleshooting&quot;,&quot;local&quot;:&quot;troubleshooting&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;No Response from Motors&quot;,&quot;local&quot;:&quot;no-response-from-motors&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3},{&quot;title&quot;:&quot;CAN Interface Not Found&quot;,&quot;local&quot;:&quot;can-interface-not-found&quot;,&quot;sections&quot;:[],&quot;depth&quot;:3}],&quot;depth&quot;:2},{&quot;title&quot;:&quot;Resources&quot;,&quot;local&quot;:&quot;resources&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2}],&quot;depth&quot;:1}"><!-- HEAD_svelte-u9bgzb_END --> <p></p> <div class="items-center shrink-0 min-w-[100px] max-sm:min-w-[50px] justify-end ml-auto flex" style="float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"><div class="inline-flex rounded-md max-sm:rounded-sm"><button class="inline-flex items-center gap-1 h-7 max-sm:h-7 px-2 max-sm:px-1.5 text-sm font-medium text-gray-800 border border-r-0 rounded-l-md max-sm:rounded-l-sm border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-live="polite"><span class="inline-flex items-center justify-center rounded-md p-0.5 max-sm:p-0 hover:text-gray-800 dark:hover:text-gray-200"><svg class="sm:size-3.5 size-3" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg></span> <span>Copy page</span></button> <button class="inline-flex items-center justify-center w-6 max-sm:w-5 h-7 max-sm:h-7 disabled:pointer-events-none text-sm text-gray-500 hover:text-gray-700 dark:hover:text-white rounded-r-md max-sm:rounded-r-sm border border-l transition border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-haspopup="menu" aria-expanded="false" aria-label="Open copy menu"><svg class="transition-transform text-gray-400 overflow-visible sm:size-3.5 size-3 rotate-0" width="1em" height="1em" viewBox="0 0 12 7" fill="none" xmlns="http://www.w3.org/2000/svg"><path d="M1 1L6 6L11 1" stroke="currentColor"></path></svg></button></div> </div> <h1 class="relative group"><a id="openarm" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#openarm"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>OpenArm</span></h1> <p data-svelte-h="svelte-1c1ybvz"><a href="https://openarm.dev" rel="nofollow">OpenArm</a> is an open-source 7DOF humanoid arm designed for physical AI research and deployment.</p> <p data-svelte-h="svelte-1n08ok3">To get your OpenArm, assembled or DIY, and join the global community, browse verified and certified manufacturers worldwide at <a href="https://openarm.dev" rel="nofollow">openarm.dev</a>.</p> <h2 class="relative group"><a id="whats-unique" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#whats-unique"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>What’s Unique?</span></h2> <ul data-svelte-h="svelte-bkm8qa"><li><p><strong>Human-Scale Design</strong>: OpenArm is designed with human-like proportions, scaled for a person around 160-165cm tall. This provides an optimal balance between practical reach and manageable inertia for safe, responsive operation.</p></li> <li><p><strong>Safety-First Architecture</strong>: Built with QDD backdrivable motors and high compliance, OpenArm prioritizes safe human-robot interaction while maintaining practical payload capabilities (6.0kg peak / 4.1kg nominal) for real-world tasks.</p></li> <li><p><strong>Built for Durability</strong>: Critical structural components use aluminum and stainless steel construction, ensuring robust performance for repetitive data collection and continuous research use.</p></li> <li><p><strong>Fully Accessible &amp; Buildable</strong>: Every component, from CNC parts and 3D-printed casings to electrical wiring is designed to be purchasable and buildable by individual researchers and labs, with complete fabrication data provided.</p></li> <li><p><strong>Practical &amp; Affordable</strong>: At $6,500 USD for a complete bimanual system, OpenArm delivers research-grade capabilities at a fraction of traditional humanoid robot costs.</p></li></ul> <h2 class="relative group"><a id="platform-requirements" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#platform-requirements"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Platform Requirements</span></h2> <blockquote class="warning">**Linux Only**: OpenArm currently only works on Linux. The CAN bus USB adapter
 does not have macOS drivers and has not been tested on Windows.</blockquote> <h2 class="relative group"><a id="safety-guide" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#safety-guide"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Safety Guide</span></h2> <p data-svelte-h="svelte-1wqewyn">Before operating OpenArm, please read the <a href="https://docs.openarm.dev/getting-started/safety-guide" rel="nofollow">official safety guide</a>. Key points:</p> <ul data-svelte-h="svelte-190ak9o"><li><strong>Secure installation</strong>: Fasten the arm to a flat, stable surface with screws or clamps</li> <li><strong>Safe distance</strong>: Keep body parts and objects outside the range of motion during operation</li> <li><strong>Protective equipment</strong>: Always wear safety goggles; use additional PPE as needed</li> <li><strong>Payload limits</strong>: Do not exceed specified payload limits (6.0kg peak / 4.1kg nominal per arm)</li> <li><strong>Emergency stop</strong>: Know the location and operation of the emergency stop device</li> <li><strong>Regular inspection</strong>: Check for loose screws, damaged mechanical limits, unusual noises, and wiring damage</li></ul> <h2 class="relative group"><a id="hardware-setup" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#hardware-setup"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Hardware Setup</span></h2> <p data-svelte-h="svelte-1ejl3f8">Follow the official <a href="https://docs.openarm.dev" rel="nofollow">OpenArm hardware documentation</a> for:</p> <ul data-svelte-h="svelte-11632aj"><li>Bill of materials and sourcing</li> <li>3D printing instructions</li> <li>Mechanical assembly</li> <li>Electrical wiring</li></ul> <p data-svelte-h="svelte-18y5rsv">The hardware repositories are available at <a href="https://github.com/enactic/openarm" rel="nofollow">github.com/enactic/openarm</a>.</p> <h2 class="relative group"><a id="can-bus-setup" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#can-bus-setup"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>CAN Bus Setup</span></h2> <p data-svelte-h="svelte-mni9of">OpenArm uses CAN bus communication with Damiao motors. Once you have the CAN bus USB adapter plugged into your Linux PC, follow the <a href="./damiao">Damiao Motors and CAN Bus guide</a> to configure the interface.</p> <p data-svelte-h="svelte-17e55a0">Quick setup:</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START --><span class="hljs-comment"># Setup CAN interfaces</span>
lerobot-setup-can --mode=setup --interfaces=can0,can1
<span class="hljs-comment"># Test motor communication</span>
lerobot-setup-can --mode=<span class="hljs-built_in">test</span> --interfaces=can0,can1<!-- HTML_TAG_END --></pre></div> <h2 class="relative group"><a id="install-lerobot-" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#install-lerobot-"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Install LeRobot 🤗</span></h2> <p data-svelte-h="svelte-1xi3rjb">Follow our <a href="./installation">Installation Guide</a>, then install the Damiao motor support:</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->pip install -e <span class="hljs-string">&quot;.[damiao]&quot;</span><!-- HTML_TAG_END --></pre></div> <h2 class="relative group"><a id="usage" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#usage"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Usage</span></h2> <h3 class="relative group"><a id="follower-arm-robot" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#follower-arm-robot"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Follower Arm (Robot)</span></h3> <div class="flex space-x-2 items-center my-1.5 mr-8 h-7 !pl-0 -mx-3 md:mx-0"><div class="flex items-center border rounded-lg px-1.5 py-1 leading-none select-none text-smd border-gray-800 bg-black dark:bg-gray-700 text-white">Command </div><div class="flex items-center border rounded-lg px-1.5 py-1 leading-none select-none text-smd text-gray-500 cursor-pointer opacity-90 hover:text-gray-700 dark:hover:text-gray-200 hover:shadow-sm">API example </div></div> <div class="language-select"><div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->lerobot-calibrate \
 --robot.type=openarm_follower \
 --robot.port=can0 \
 --robot.side=right \
 --robot.id=my_openarm_follower<!-- HTML_TAG_END --></pre></div> </div> <h3 class="relative group"><a id="leader-arm-teleoperator" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#leader-arm-teleoperator"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Leader Arm (Teleoperator)</span></h3> <p data-svelte-h="svelte-1imk6bz">The leader arm is used for teleoperation - manually moving it to control the follower arm.</p> <div class="flex space-x-2 items-center my-1.5 mr-8 h-7 !pl-0 -mx-3 md:mx-0"><div class="flex items-center border rounded-lg px-1.5 py-1 leading-none select-none text-smd border-gray-800 bg-black dark:bg-gray-700 text-white">Command </div><div class="flex items-center border rounded-lg px-1.5 py-1 leading-none select-none text-smd text-gray-500 cursor-pointer opacity-90 hover:text-gray-700 dark:hover:text-gray-200 hover:shadow-sm">API example </div></div> <div class="language-select"><div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->lerobot-calibrate \
 --teleop.type=openarm_leader \
 --teleop.port=can1 \
 --teleop.id=my_openarm_leader<!-- HTML_TAG_END --></pre></div> </div> <h3 class="relative group"><a id="teleoperation" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#teleoperation"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Teleoperation</span></h3> <p data-svelte-h="svelte-dmj8z0">To teleoperate OpenArm with leader-follower control:</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->lerobot-teleoperate \
 --robot.type=openarm_follower \
 --robot.port=can0 \
 --robot.side=right \
 --robot.id=my_follower \
 --teleop.type=openarm_leader \
 --teleop.port=can1 \
 --teleop.id=my_leader<!-- HTML_TAG_END --></pre></div> <h3 class="relative group"><a id="bimanual-teleoperation" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#bimanual-teleoperation"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Bimanual Teleoperation</span></h3> <p data-svelte-h="svelte-7tbqsh">To teleoperate a bimanual OpenArm setup with two leader and two follower arms:</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->lerobot-teleoperate \
 --robot.type=bi_openarm_follower \
 --robot.left_arm_config.port=can0 \
 --robot.left_arm_config.side=left \
 --robot.right_arm_config.port=can1 \
 --robot.right_arm_config.side=right \
 --robot.id=my_bimanual_follower \
 --teleop.type=bi_openarm_leader \
 --teleop.left_arm_config.port=can2 \
 --teleop.right_arm_config.port=can3 \
 --teleop.id=my_bimanual_leader<!-- HTML_TAG_END --></pre></div> <h3 class="relative group"><a id="recording-data" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#recording-data"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Recording Data</span></h3> <p data-svelte-h="svelte-1wcf217">To record a dataset during teleoperation:</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->lerobot-record \
 --robot.type=openarm_follower \
 --robot.port=can0 \
 --robot.side=right \
 --robot.id=my_follower \
 --teleop.type=openarm_leader \
 --teleop.port=can1 \
 --teleop.id=my_leader \
 --repo-id=my_hf_username/my_openarm_dataset \
 --fps=30 \
 --num-episodes=10<!-- HTML_TAG_END --></pre></div> <h2 class="relative group"><a id="configuration-options" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#configuration-options"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Configuration Options</span></h2> <h3 class="relative group"><a id="follower-configuration" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#follower-configuration"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Follower Configuration</span></h3> <table data-svelte-h="svelte-1c9pgt"><thead><tr><th>Parameter</th> <th>Default</th> <th>Description</th></tr></thead> <tbody><tr><td><code>port</code></td> <td>-</td> <td>CAN interface (e.g., <code>can0</code>)</td></tr> <tr><td><code>side</code></td> <td><code>None</code></td> <td>Arm side: <code>&quot;left&quot;</code>, <code>&quot;right&quot;</code>, or <code>None</code> for custom limits</td></tr> <tr><td><code>use_can_fd</code></td> <td><code>True</code></td> <td>Enable CAN FD for higher data rates</td></tr> <tr><td><code>can_bitrate</code></td> <td><code>1000000</code></td> <td>Nominal bitrate (1 Mbps)</td></tr> <tr><td><code>can_data_bitrate</code></td> <td><code>5000000</code></td> <td>CAN FD data bitrate (5 Mbps)</td></tr> <tr><td><code>max_relative_target</code></td> <td><code>None</code></td> <td>Safety limit for relative target positions</td></tr> <tr><td><code>position_kp</code></td> <td>Per-joint</td> <td>Position control proportional gains</td></tr> <tr><td><code>position_kd</code></td> <td>Per-joint</td> <td>Position control derivative gains</td></tr></tbody></table> <h3 class="relative group"><a id="leader-configuration" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#leader-configuration"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Leader Configuration</span></h3> <table data-svelte-h="svelte-18xqusx"><thead><tr><th>Parameter</th> <th>Default</th> <th>Description</th></tr></thead> <tbody><tr><td><code>port</code></td> <td>-</td> <td>CAN interface (e.g., <code>can1</code>)</td></tr> <tr><td><code>manual_control</code></td> <td><code>True</code></td> <td>Disable torque for manual movement</td></tr> <tr><td><code>use_can_fd</code></td> <td><code>True</code></td> <td>Enable CAN FD for higher data rates</td></tr> <tr><td><code>can_bitrate</code></td> <td><code>1000000</code></td> <td>Nominal bitrate (1 Mbps)</td></tr> <tr><td><code>can_data_bitrate</code></td> <td><code>5000000</code></td> <td>CAN FD data bitrate (5 Mbps)</td></tr></tbody></table> <h2 class="relative group"><a id="motor-configuration" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#motor-configuration"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Motor Configuration</span></h2> <p data-svelte-h="svelte-16n2h1g">OpenArm uses Damiao motors with the following default configuration:</p> <table data-svelte-h="svelte-1kf38l5"><thead><tr><th>Joint</th> <th>Motor Type</th> <th>Send ID</th> <th>Recv ID</th></tr></thead> <tbody><tr><td>joint_1 (Shoulder pan)</td> <td>DM8009</td> <td>0x01</td> <td>0x11</td></tr> <tr><td>joint_2 (Shoulder lift)</td> <td>DM8009</td> <td>0x02</td> <td>0x12</td></tr> <tr><td>joint_3 (Shoulder rotation)</td> <td>DM4340</td> <td>0x03</td> <td>0x13</td></tr> <tr><td>joint_4 (Elbow flex)</td> <td>DM4340</td> <td>0x04</td> <td>0x14</td></tr> <tr><td>joint_5 (Wrist roll)</td> <td>DM4310</td> <td>0x05</td> <td>0x15</td></tr> <tr><td>joint_6 (Wrist pitch)</td> <td>DM4310</td> <td>0x06</td> <td>0x16</td></tr> <tr><td>joint_7 (Wrist rotation)</td> <td>DM4310</td> <td>0x07</td> <td>0x17</td></tr> <tr><td>gripper</td> <td>DM4310</td> <td>0x08</td> <td>0x18</td></tr></tbody></table> <h2 class="relative group"><a id="troubleshooting" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#troubleshooting"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Troubleshooting</span></h2> <h3 class="relative group"><a id="no-response-from-motors" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#no-response-from-motors"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>No Response from Motors</span></h3> <ol data-svelte-h="svelte-7qsqus"><li>Check power supply connections</li> <li>Verify CAN wiring (CAN-H, CAN-L, GND)</li> <li>Run diagnostics: <code>lerobot-setup-can --mode=test --interfaces=can0</code></li> <li>See the <a href="./damiao#troubleshooting">Damiao troubleshooting guide</a> for more details</li></ol> <h3 class="relative group"><a id="can-interface-not-found" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#can-interface-not-found"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>CAN Interface Not Found</span></h3> <p data-svelte-h="svelte-1kctham">Ensure the CAN interface is configured:</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->ip <span class="hljs-built_in">link</span> show can0<!-- HTML_TAG_END --></pre></div> <h2 class="relative group"><a id="resources" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#resources"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Resources</span></h2> <ul data-svelte-h="svelte-51ga0l"><li><a href="https://openarm.dev" rel="nofollow">OpenArm Website</a></li> <li><a href="https://docs.openarm.dev" rel="nofollow">OpenArm Documentation</a></li> <li><a href="https://github.com/enactic/openarm" rel="nofollow">OpenArm GitHub</a></li> <li><a href="https://docs.openarm.dev/getting-started/safety-guide" rel="nofollow">Safety Guide</a></li> <li><a href="./damiao">Damiao Motors and CAN Bus</a></li></ul> <a class="!text-gray-400 !no-underline text-sm flex items-center not-prose mt-4" href="https://github.com/huggingface/lerobot/blob/main/docs/source/openarm.mdx" target="_blank"><svg class="mr-1" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M31,16l-7,7l-1.41-1.41L28.17,16l-5.58-5.59L24,9l7,7z"></path><path d="M1,16l7-7l1.41,1.41L3.83,16l5.58,5.59L8,23l-7-7z"></path><path d="M12.419,25.484L17.639,6.552l1.932,0.518L14.351,26.002z"></path></svg> <span data-svelte-h="svelte-zjs2n5"><span class="underline">Update</span> on GitHub</span></a> <p></p>
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