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/**
* SO-100 device configurations
* Defines the differences between leader and follower devices
* Mirrors Python lerobot device configuration approach
*/
import type { SO100CalibrationConfig } from "./calibration.js";
import { SerialPort } from "serialport";
/**
* Common motor names for all SO-100 devices
*/
const SO100_MOTOR_NAMES = [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper",
];
/**
* SO-100 Follower Configuration
* Robot arm that performs tasks autonomously
* Uses standard gear ratios for all motors
*/
export function createSO100FollowerConfig(
port: SerialPort
): SO100CalibrationConfig {
return {
deviceType: "so100_follower",
port,
motorNames: SO100_MOTOR_NAMES,
// Follower uses standard drive modes (all same gear ratio)
driveModes: [0, 0, 0, 0, 0, 0], // All 1/345 gear ratio
// Calibration modes
calibModes: ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
// Follower limits - optimized for autonomous operation
limits: {
position_min: [-180, -90, -90, -90, -90, -90],
position_max: [180, 90, 90, 90, 90, 90],
velocity_max: [100, 100, 100, 100, 100, 100], // Fast for autonomous tasks
torque_max: [50, 50, 50, 50, 25, 25], // Higher torque for carrying loads
},
};
}
/**
* SO-100 Leader Configuration
* Teleoperator arm that humans use to control the follower
* Uses mixed gear ratios for easier human operation
*/
export function createSO100LeaderConfig(
port: SerialPort
): SO100CalibrationConfig {
return {
deviceType: "so100_leader",
port,
motorNames: SO100_MOTOR_NAMES,
// Leader uses mixed gear ratios for easier human operation
// Based on Python lerobot leader calibration data
driveModes: [0, 1, 0, 0, 1, 0], // Mixed ratios: some 1/345, some 1/191, some 1/147
// Same calibration modes as follower
calibModes: ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
// Leader limits - optimized for human operation (safer, easier to move)
limits: {
position_min: [-120, -60, -60, -60, -180, -45],
position_max: [120, 60, 60, 60, 180, 45],
velocity_max: [80, 80, 80, 80, 120, 60], // Slower for human control
torque_max: [30, 30, 30, 30, 20, 15], // Lower torque for safety
},
};
}
/**
* Get configuration for any SO-100 device type
*/
export function getSO100Config(
deviceType: "so100_follower" | "so100_leader",
port: SerialPort
): SO100CalibrationConfig {
switch (deviceType) {
case "so100_follower":
return createSO100FollowerConfig(port);
case "so100_leader":
return createSO100LeaderConfig(port);
default:
throw new Error(`Unknown SO-100 device type: ${deviceType}`);
}
}
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