lerobot_robot_oy_openarm

LeRobot third-party robot plugin for the dual-arm OY OpenArm follower. It talks to OpenArm RCG through openarm-sdk and exposes both arms, both grippers, and optional LeRobot cameras through the standard Robot interface.

Installation

pip install -e ./lerobot_robot_oy_openarm

The distribution and import package are both named lerobot_robot_oy_openarm, so LeRobot's register_third_party_plugins() can discover and import the plugin automatically.

With the standard lerobot-record command, the plugin moves Foxglove logging onto a latest-frame background dispatcher. Slow visualization can drop display-only frames without blocking dataset collection or robot control. The display publisher targets 30 FPS by default and can be configured with OY_OPENARM_FOXGLOVE_MAX_FPS. Use --display_compressed_images=true for multi-camera visualization; the plugin also keeps the channel type consistent between recording and episode reset loops on LeRobot 0.6.

Usage

lerobot-teleoperate \
  --robot.type=oy_openarm_follower \
  --robot.ip=127.0.0.1 \
  --robot.port=50051 \
  --robot.align_on_connect=true \
  --teleop.type=oy_openarm_leader \
  --teleop.left_port=can1 \
  --teleop.right_port=can0

The follower controls both arms. Joint and gripper actions use radians at the LeRobot boundary; gripper values are mapped to the physical metre ranges reported by OpenArm RCG.

align_on_connect is disabled by default because it moves the follower. When explicitly enabled, the follower reads the connected OY OpenArm leader through the companion teleoperator plugin, aligns once, and stops the temporary servo session before LeRobot starts its control loop. The stock lerobot-record and lerobot-teleoperate commands both connect the teleoperator before the robot, so no modification to LeRobot is required.