dora-openarm-cell-lifter 0.1.0__tar.gz

dora_openarm_cell_lifter-0.1.0/LICENSE

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dora_openarm_cell_lifter-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: dora-openarm-cell-lifter
+Version: 0.1.0
+Summary: dora-rs node to control OpenArm Cell Lifter
+Author: Enactic, Inc.
+License: Apache-2.0
+Project-URL: Repository, https://github.com/enactic/dora-openarm-cell-lifter
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: dora-rs>=0.5.0
+Requires-Dist: openarm-can
+Dynamic: license-file
+
+# dora-openarm-cell-lifter
+
+A [dora-rs](https://dora-rs.ai/) node to control OpenArm Cell Lifter.
+
+## License
+
+Licensed under the Apache License 2.0. See [LICENSE](LICENSE) for details.
+
+Copyright 2026 Enactic, Inc.
+
+## Code of Conduct
+
+All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).

dora_openarm_cell_lifter-0.1.0/README.md

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+# dora-openarm-cell-lifter
+
+A [dora-rs](https://dora-rs.ai/) node to control OpenArm Cell Lifter.
+
+## License
+
+Licensed under the Apache License 2.0. See [LICENSE](LICENSE) for details.
+
+Copyright 2026 Enactic, Inc.
+
+## Code of Conduct
+
+All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).

dora_openarm_cell_lifter-0.1.0/pyproject.toml

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+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+[build-system]
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "dora-openarm-cell-lifter"
+version = "0.1.0"
+authors = [{ name = "Enactic, Inc." }]
+description = "dora-rs node to control OpenArm Cell Lifter"
+license = { text = "Apache-2.0" }
+readme = "README.md"
+requires-python = ">=3.10"
+
+dependencies = ["dora-rs >= 0.5.0", "openarm-can"]
+
+[dependency-groups]
+dev = [
+  "pytest >= 8.1.1",
+  "ruff == 0.14.11", # sync with .pre-commit-config.yaml
+]
+
+[project.scripts]
+dora-openarm-cell-lifter = "dora_openarm_cell_lifter.main:main"
+
+[project.urls]
+Repository = "https://github.com/enactic/dora-openarm-cell-lifter"
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]
+
+[tool.ruff.lint.per-file-ignores]
+"!src/**.py" = ["D"]

dora_openarm_cell_lifter-0.1.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

dora_openarm_cell_lifter-0.1.0/src/dora_openarm_cell_lifter/__init__.py

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+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""dora-rs node to control OpenArm Cell Lifter."""
+
+import os
+
+# Define the path to the README file relative to the package directory
+readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
+
+# Read the content of the README file
+try:
+    with open(readme_path, encoding="utf-8") as f:
+        __doc__ = f.read()
+except FileNotFoundError:
+    __doc__ = "README file not found."

dora_openarm_cell_lifter-0.1.0/src/dora_openarm_cell_lifter/main.py

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+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""dora-rs node to control OpenArm Cell Lifter."""
+
+import argparse
+import dora
+import openarm_can as oa
+import math
+import os
+import time
+
+import pyarrow as pa
+
+# --- Constants ---
+VEL_MAX = 30.0
+POS_MIN = 0.0
+HOLD_POS_VEL = 1.0
+
+# Threshold for joystick deadzone
+JOYSTICK_DEADZONE = 0.15
+# Scaling factor for velocity calculation (1.0 - 0.15)
+JOYSTICK_RANGE = 0.85
+
+# Torque threshold for anomaly detection (collision / mechanical limit)
+TORQUE_LIMIT = 1.5
+
+
+class PositionUnwrapper:
+    """Class to handle wrap-around of multi-turn motor encoders (-4pi to 4pi)."""
+
+    def __init__(self, wrap_range=8.0 * math.pi, wrap_threshold=4.0 * math.pi):
+        """Initialize the tracker for wrapped encoder positions."""
+        self._wrap_range = wrap_range
+        self._wrap_threshold = wrap_threshold
+        self._prev_raw = None
+        self._continuous_pos = 0.0
+
+    def update(self, current_raw):
+        """Update the continuous position estimate from the raw encoder value."""
+        if self._prev_raw is None:
+            self._prev_raw = current_raw
+            self._continuous_pos = current_raw
+            return self._continuous_pos
+
+        diff = current_raw - self._prev_raw
+
+        # Unwrap logic for 8pi range
+        if diff > self._wrap_threshold:
+            diff -= self._wrap_range
+        elif diff < -self._wrap_threshold:
+            diff += self._wrap_range
+
+        self._continuous_pos += diff
+        self._prev_raw = current_raw
+        return self._continuous_pos
+
+
+def _calc_next_elevation(current_elevation, velocity, dt, lead_length):
+    return current_elevation + velocity * dt * lead_length / (2.0 * math.pi)
+
+
+def _calc_elevation_action_from_joystick(
+    current_elevation, joystick_y, dt, lead_length, speed_factor=1.0
+):
+    if joystick_y > JOYSTICK_DEADZONE:
+        applied_vel = VEL_MAX * (abs(joystick_y - JOYSTICK_DEADZONE) / JOYSTICK_RANGE)
+        applied_vel *= speed_factor
+        return _calc_next_elevation(
+            current_elevation, applied_vel, dt, lead_length
+        ), applied_vel
+
+    elif joystick_y < -JOYSTICK_DEADZONE:
+        applied_vel = VEL_MAX * (abs(joystick_y + JOYSTICK_DEADZONE) / JOYSTICK_RANGE)
+        applied_vel *= speed_factor
+        return _calc_next_elevation(
+            current_elevation, -applied_vel, dt, lead_length
+        ), applied_vel
+
+    else:
+        return None, 0.0
+
+
+def _dora_main(lifter, args):
+    pos_max = (args.screw_length / args.lead_length) * 2.0 * math.pi
+    slow_margin = pos_max * 0.05
+
+    node = dora.Node()
+
+    lifter_pos = 0.0
+    lifter_tau = 0.0
+
+    joystick_y = 0.0
+
+    for motor in lifter.get_arm().get_motors():
+        lifter_pos = motor.get_position()
+        lifter_tau = motor.get_torque()
+
+    unwrapper = PositionUnwrapper()
+
+    calibrated = False
+    offset_pos = 0.0
+
+    # State management variables
+    jammed_direction = None
+    hold_pos = 0.0
+    hold_elevation = 0.0
+    is_stopping = False
+
+    prev_time = time.time()
+
+    for event in node:
+        if event["type"] != "INPUT":
+            continue
+
+        event_id = event.get("id")
+
+        value = event.get("value")
+        if value is None:
+            continue
+
+        if event_id == "joystick_y":
+            py_value = value[0].as_py()
+            joystick_y = py_value
+        elif event_id == "command":
+            command = event["value"][0].as_py()
+            if command == "lifter-up":
+                joystick_y = 0.5
+            elif command == "lifter-down":
+                joystick_y = -0.5
+            else:
+                joystick_y = 0
+        elif event_id == "move_elevation":
+            pass  # handled in normal operation phase
+        elif event_id == "tick":
+            pass
+        else:
+            continue
+
+        # --- Calibration Phase ---
+        if not calibrated:
+            lifter.get_arm().posvel_control_all(
+                [oa.PosVelParam(q=POS_MIN - 1000.0, dq=VEL_MAX / 5.0)]
+            )
+
+            lifter.recv_all(1000)  # Wait up to 1ms for the motor response
+
+            for motor in lifter.get_arm().get_motors():
+                lifter_pos = motor.get_position()
+                lifter_tau = motor.get_torque()
+            if abs(lifter_tau) > 1.0:
+                offset_pos = lifter_pos
+                calibrated = True
+                lifter.get_arm().posvel_control_all(
+                    [oa.PosVelParam(q=pos_max, dq=VEL_MAX / 20.0)]
+                )
+                time.sleep(0.2)
+            continue
+
+        # --- Normal Operation Phase ---
+        now = time.time()
+        dt = now - prev_time
+        prev_time = now
+
+        lifter.recv_all()
+
+        for motor in lifter.get_arm().get_motors():
+            lifter_pos = motor.get_position()
+            lifter_tau = motor.get_torque()
+        obs_position = unwrapper.update(lifter_pos) - offset_pos
+        # obs: elevation(mm)
+        obs_elevation = obs_position / (2.0 * math.pi) * args.lead_length
+        node.send_output(
+            "elevation_observation", pa.array([obs_elevation], type=pa.float32())
+        )
+
+        # Calculate distance to the nearest physical limit (lower 0.0 or upper pos_max)
+        distance_to_min = obs_position - 0.0
+        distance_to_max = pos_max - obs_position
+        distance_to_edge = min(distance_to_min, distance_to_max)
+
+        # Calculate the linear deceleration factor
+        if distance_to_edge < slow_margin:
+            # Clamp to prevent negative values due to slight sensor noise
+            clamped_distance = max(0.0, distance_to_edge)
+            # Linear interpolation: 0.25x at the edge, 1.0x at the slow_margin boundary
+            speed_factor = 0.25 + 0.75 * (clamped_distance / slow_margin)
+        else:
+            speed_factor = 1.0
+
+        # --- Elevation (mm) ---
+        if event_id == "move_elevation":
+            elevation = max(0.0, min(args.screw_length, value[0].as_py()))
+            target_position = elevation / args.lead_length * 2.0 * math.pi + offset_pos
+            is_stopping = False
+
+            node.send_output(
+                "elevation_action",
+                pa.array([elevation], type=pa.float32()),
+            )
+
+            lifter.get_arm().posvel_control_all(
+                [oa.PosVelParam(q=target_position, dq=VEL_MAX * speed_factor)]
+            )
+            continue
+
+        # --- 1. Jam detection and direction memorization ---
+        if abs(lifter_tau) > TORQUE_LIMIT:
+            if jammed_direction is None:
+                # Memorize the exact position at impact to prevent hunting
+                hold_pos = obs_position + offset_pos  # Use the unwrapper position
+                hold_elevation = obs_elevation  # obs elevation is calculated from the unwrapper lifter_pos(hold_pos)
+
+                if joystick_y > JOYSTICK_DEADZONE:
+                    jammed_direction = "UP"
+                elif joystick_y < -JOYSTICK_DEADZONE:
+                    jammed_direction = "DOWN"
+                else:
+                    jammed_direction = "UNKNOWN"
+        else:
+            # Do not release the lock if the joystick is held in the same direction,
+            # even if the torque drops to a normal value
+            if jammed_direction == "UP" and joystick_y <= JOYSTICK_DEADZONE:
+                jammed_direction = None
+            elif jammed_direction == "DOWN" and joystick_y >= -JOYSTICK_DEADZONE:
+                jammed_direction = None
+            elif jammed_direction == "UNKNOWN":
+                jammed_direction = None
+
+        # --- 2. Action determination (One-way block, reverse allow, linear deceleration at limits) ---
+
+        # UP operation
+        if joystick_y > JOYSTICK_DEADZONE:
+            is_stopping = False
+            if jammed_direction in ["UP", "UNKNOWN"]:
+                # Hold silently at the memorized position while jammed in the UP direction
+                node.send_output(
+                    "elevation_action",
+                    pa.array([hold_elevation], type=pa.float32()),
+                )
+                lifter.get_arm().posvel_control_all(
+                    [oa.PosVelParam(q=hold_pos, dq=0.0)]
+                )
+
+            else:
+                action_elevation, applied_vel = _calc_elevation_action_from_joystick(
+                    obs_elevation,
+                    joystick_y,
+                    dt,
+                    args.lead_length,
+                    speed_factor,
+                )
+
+                node.send_output(
+                    "elevation_action",
+                    pa.array([action_elevation], type=pa.float32()),
+                )
+
+                # Drive toward the top stroke limit (positive joystick_y = up)
+                lifter.get_arm().posvel_control_all(
+                    [oa.PosVelParam(q=pos_max + offset_pos, dq=applied_vel)]
+                )
+
+        # DOWN operation
+        elif joystick_y < -JOYSTICK_DEADZONE:
+            is_stopping = False
+            if jammed_direction in ["DOWN", "UNKNOWN"]:
+                # Hold silently at the memorized position while jammed in the DOWN direction
+
+                node.send_output(
+                    "elevation_action",
+                    pa.array([hold_elevation], type=pa.float32()),
+                )
+                lifter.get_arm().posvel_control_all(
+                    [oa.PosVelParam(q=hold_pos, dq=0.0)]
+                )
+            else:
+                action_elevation, applied_vel = _calc_elevation_action_from_joystick(
+                    obs_elevation,
+                    joystick_y,
+                    dt,
+                    args.lead_length,
+                    speed_factor,
+                )
+
+                node.send_output(
+                    "elevation_action",
+                    pa.array([action_elevation], type=pa.float32()),
+                )
+
+                # Drive toward the bottom stroke limit (negative joystick_y = down)
+                lifter.get_arm().posvel_control_all(
+                    [oa.PosVelParam(q=offset_pos, dq=applied_vel)]
+                )
+
+        # STOP (Within deadzone)
+        else:
+            if not is_stopping:
+                # Memorize the exact position at the moment the joystick is released
+                hold_pos = obs_position + offset_pos  # Use the unwrapper position
+                hold_elevation = obs_elevation  # obs elevation is calculated from the unwrapper position(hold_pos)
+                is_stopping = True
+
+            node.send_output(
+                "elevation_action",
+                pa.array([hold_elevation], type=pa.float32()),
+            )
+            # Hold position with a small velocity to maintain stiffness, preventing drift due to gravity or disturbances
+            lifter.get_arm().posvel_control_all(
+                [oa.PosVelParam(q=hold_pos, dq=HOLD_POS_VEL)]
+            )
+
+
+def main():
+    """Control the OpenArm Lifter using joystick inputs.
+
+    observation:
+    elevation (mm) from the bottom, converted from motor angle (rad) using the lead length.
+
+    action:
+    Estimated next elevation (mm), calculated from observation and `applied_vel`.
+    `applied_vel` is reduced linearly near the stroke limits (within `SLOW_MARGIN`) to avoid collision.
+    `action` is only output when the joystick is operated.
+    """
+    parser = argparse.ArgumentParser(description="Control the OpenArm Lifter")
+    parser.add_argument(
+        "--can-interface",
+        default=os.getenv("CAN_INTERFACE", "can2"),
+        help="The CAN interface name",
+    )
+    parser.add_argument(
+        "--lead-length",
+        default=float(os.getenv("LEAD_LENGTH", 5.0)),
+        help="Lead screw lead length in mm/rev",
+        type=float,
+    )
+    parser.add_argument(
+        "--screw-length",
+        default=float(os.getenv("SCREW_LENGTH", 300.0)),
+        help="Lead screw stroke length in mm",
+        type=float,
+    )
+    args = parser.parse_args()
+
+    lifter = oa.OpenArm(args.can_interface, enable_fd=True)
+
+    motor_types = [oa.MotorType.DM4310]
+    send_ids = [0x0A]
+    recv_ids = [0x1A]
+    control_modes = [oa.ControlMode.POS_VEL]
+
+    lifter.init_arm_motors(motor_types, send_ids, recv_ids, control_modes)
+    lifter.set_callback_mode_all(oa.CallbackMode.STATE)
+
+    lifter.enable_all()
+    lifter.recv_all()
+
+    _dora_main(lifter, args)
+
+    # Move the lifter down to the mechanical stop before disabling
+    for _ in range(200):
+        lifter.get_arm().posvel_control_all(
+            [oa.PosVelParam(q=POS_MIN - 1000.0, dq=VEL_MAX / 1.0)]
+        )
+
+        lifter.recv_all(1000)  # Wait up to 1ms for the motor response
+        time.sleep(0.05)  # Small delay to allow the motor to move
+
+        for motor in lifter.get_arm().get_motors():
+            lifter_tau = motor.get_torque()
+        if abs(lifter_tau) > 1.0:
+            break
+        # stops the shutdown homing when abs(lifter_tau) > 1.0
+
+    # Disable motors for safety after exiting the loop
+    lifter.disable_all()
+
+
+if __name__ == "__main__":
+    main()

dora_openarm_cell_lifter-0.1.0/src/dora_openarm_cell_lifter.egg-info/PKG-INFO

@@ -0,0 +1,27 @@
+Metadata-Version: 2.4
+Name: dora-openarm-cell-lifter
+Version: 0.1.0
+Summary: dora-rs node to control OpenArm Cell Lifter
+Author: Enactic, Inc.
+License: Apache-2.0
+Project-URL: Repository, https://github.com/enactic/dora-openarm-cell-lifter
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: dora-rs>=0.5.0
+Requires-Dist: openarm-can
+Dynamic: license-file
+
+# dora-openarm-cell-lifter
+
+A [dora-rs](https://dora-rs.ai/) node to control OpenArm Cell Lifter.
+
+## License
+
+Licensed under the Apache License 2.0. See [LICENSE](LICENSE) for details.
+
+Copyright 2026 Enactic, Inc.
+
+## Code of Conduct
+
+All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).

dora_openarm_cell_lifter-0.1.0/src/dora_openarm_cell_lifter.egg-info/SOURCES.txt

@@ -0,0 +1,12 @@
+LICENSE
+README.md
+pyproject.toml
+src/dora_openarm_cell_lifter/__init__.py
+src/dora_openarm_cell_lifter/main.py
+src/dora_openarm_cell_lifter.egg-info/PKG-INFO
+src/dora_openarm_cell_lifter.egg-info/SOURCES.txt
+src/dora_openarm_cell_lifter.egg-info/dependency_links.txt
+src/dora_openarm_cell_lifter.egg-info/entry_points.txt
+src/dora_openarm_cell_lifter.egg-info/requires.txt
+src/dora_openarm_cell_lifter.egg-info/top_level.txt
+tests/test_joystick_y_elevation.py

dora_openarm_cell_lifter-0.1.0/src/dora_openarm_cell_lifter.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

dora_openarm_cell_lifter-0.1.0/src/dora_openarm_cell_lifter.egg-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+dora-openarm-cell-lifter = dora_openarm_cell_lifter.main:main

dora_openarm_cell_lifter-0.1.0/src/dora_openarm_cell_lifter.egg-info/requires.txt

@@ -0,0 +1,2 @@
+dora-rs>=0.5.0
+openarm-can

dora_openarm_cell_lifter-0.1.0/src/dora_openarm_cell_lifter.egg-info/top_level.txt

@@ -0,0 +1 @@
+dora_openarm_cell_lifter

dora_openarm_cell_lifter-0.1.0/tests/test_joystick_y_elevation.py

@@ -0,0 +1,53 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import pytest
+
+
+import dora_openarm_cell_lifter.main as main_module  # noqa: E402
+
+
+@pytest.mark.parametrize(
+    ("joystick_y", "expected_elevation", "expected_velocity"),
+    [
+        (1.0, 28.8732414637843, 30.0),
+        (-1.0, -18.8732414637843, 30.0),
+    ],
+)
+def test_joystick_y_produces_expected_elevation_action(
+    joystick_y, expected_elevation, expected_velocity
+):
+    action_elevation, applied_vel = main_module._calc_elevation_action_from_joystick(
+        current_elevation=5.0,
+        joystick_y=joystick_y,
+        dt=1.0,
+        lead_length=5.0,
+    )
+
+    assert action_elevation == pytest.approx(expected_elevation)
+    assert applied_vel == pytest.approx(expected_velocity)
+
+
+@pytest.mark.parametrize("joystick_y", [-0.15, 0.0, 0.15])
+def test_deadzone_joystick_y_does_not_produce_elevation_action(joystick_y):
+    action_elevation, applied_vel = main_module._calc_elevation_action_from_joystick(
+        current_elevation=5.0,
+        joystick_y=joystick_y,
+        dt=1.0,
+        lead_length=5.0,
+    )
+
+    assert action_elevation is None
+    assert applied_vel == 0.0