lerobot_teleoperator_oy_openarm

LeRobot third-party teleoperator plugin for the dual-arm OY OpenArm leader. It reads the eight joints on each arm through two persistent CAN connections and publishes a 16-position LeRobot action dictionary.

Installation

pip install -e ./lerobot_teleoperator_oy_openarm

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

Usage

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

The default backend is Linux SocketCAN at 1 Mbps. When automatic interface configuration is enabled, bringing a CAN interface up may require CAP_NET_ADMIN or sudo.