openarm-can 1.2.0__tar.gz

openarm_can-1.2.0/CMakeLists.txt

@@ -0,0 +1,117 @@
+# Copyright 2025 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.
+
+cmake_minimum_required(VERSION 3.22)
+project(
+  openarm_can_python
+  VERSION 1.2.0
+  LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+find_package(
+  Python
+  COMPONENTS Interpreter Development.Module
+  REQUIRED)
+
+include(FetchContent)
+set(OCP_FETCH_CONTENT_COMMON_OPTIONS)
+if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.28)
+  list(APPEND OCP_FETCH_CONTENT_COMMON_OPTIONS EXCLUDE_FROM_ALL TRUE)
+endif()
+macro(ocp_prepare_fetchcontent)
+  set(BUILD_SHARED_LIBS OFF)
+  set(BUILD_TESTING OFF)
+  set(CMAKE_COMPILE_WARNING_AS_ERROR FALSE)
+  set(CMAKE_EXPORT_NO_PACKAGE_REGISTRY TRUE)
+  set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)
+endmacro()
+
+execute_process(
+  COMMAND Python::Interpreter -m nanobind --cmake_dir
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  OUTPUT_VARIABLE nanobind_ROOT)
+function(ocp_ensure_nanobind)
+  # We can use FIND_PACKAGE_ARGS in fetchcontent_declare() instead of
+  # explicit find_package() when we require CMake 3.24 or later.
+  find_package(nanobind)
+  if(nanobind_FOUND)
+    return()
+  endif()
+
+  set(NANOBIND_BUNDLED_VERSION "2.10.2")
+  set(NANOBIND_SOURCE_BASE_NAME "nanobind-${NANOBIND_BUNDLED_VERSION}.tar.gz")
+  set(NANOBIND_SOURCE_LOCAL_PATH
+      "${CMAKE_CURRENT_SOURCE_DIR}/vendor/${NANOBIND_SOURCE_BASE_NAME}")
+  if(EXISTS ${NANOBIND_SOURCE_LOCAL_PATH})
+    set(NANOBIND_SOURCE_ARGS URL ${NANOBIND_SOURCE_LOCAL_PATH})
+  else()
+    set(NANOBIND_SOURCE_ARGS
+        GIT_REPOSITORY "https://github.com/wjakob/nanobind.git" GIT_TAG
+        "v${NANOBIND_BUNDLED_VERSION}")
+  endif()
+  fetchcontent_declare(
+    nanobind
+    ${OCP_FETCH_CONTENT_COMMON_OPTIONS}
+    ${NANOBIND_SOURCE_ARGS}
+    # We can use FIND_PACKAGE_ARGS when we require CMake 3.24 or later.
+    #
+    # FIND_PACKAGE_ARGS
+  )
+  ocp_prepare_fetchcontent()
+  fetchcontent_makeavailable(nanobind)
+  if(nanobind_SOURCE_DIR)
+    if(CMAKE_VERSION VERSION_LESS 3.28)
+      set_property(DIRECTORY "${nanobind_SOURCE_DIR}" PROPERTY EXCLUDE_FROM_ALL
+                                                               TRUE)
+    endif()
+  endif()
+endfunction()
+ocp_ensure_nanobind()
+
+function(ocp_ensure_openarm_can)
+  # We can use FIND_PACKAGE_ARGS in fetchcontent_declare() instead of
+  # explicit find_package() when we require CMake 3.24 or later.
+  find_package(OpenArmCAN)
+  if(OpenArmCAN_FOUND)
+    return()
+  endif()
+
+  fetchcontent_declare(
+    openarm_can
+    ${OCP_FETCH_CONTENT_COMMON_OPTIONS}
+    GIT_REPOSITORY "https://github.com/enactic/openarm_can.git"
+    GIT_TAG "${openarm_can_python_VERSION}"
+    # We can use FIND_PACKAGE_ARGS when we require CMake 3.24 or later.
+    #
+    # FIND_PACKAGE_ARGS NAMES OpenArmCAN
+  )
+  ocp_prepare_fetchcontent()
+  fetchcontent_makeavailable(openarm_can)
+  if(openarm_can_SOURCE_DIR)
+    if(CMAKE_VERSION VERSION_LESS 3.28)
+      set_property(DIRECTORY "${openarm_can_SOURCE_DIR}"
+                   PROPERTY EXCLUDE_FROM_ALL TRUE)
+    endif()
+    add_library(OpenArmCAN::openarm_can ALIAS openarm_can)
+  endif()
+endfunction()
+ocp_ensure_openarm_can()
+
+nanobind_add_module(openarm_can_python src/openarm_can.cpp)
+set_target_properties(openarm_can_python PROPERTIES OUTPUT_NAME "openarm_can")
+target_link_libraries(openarm_can_python PRIVATE OpenArmCAN::openarm_can)
+install(TARGETS openarm_can_python LIBRARY DESTINATION "openarm_can")
+install(FILES openarm_can/__init__.py DESTINATION "openarm_can")

openarm_can-1.2.0/LICENSE.txt

@@ -0,0 +1,202 @@
+
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openarm_can-1.2.0/PKG-INFO

@@ -0,0 +1,23 @@
+Metadata-Version: 2.2
+Name: openarm_can
+Version: 1.2.0
+Author: Enactic, Inc.
+Maintainer: Enactic, Inc.
+License: Apache-2.0
+Project-URL: changelog, https://github.com/enactic/openarm_can/releases
+Project-URL: documentation, https://docs.openarm.dev/software/can
+Project-URL: homepage, https://docs.openarm.dev/software/can
+Project-URL: issues, https://github.com/enactic/openarm_can/issues
+Project-URL: repository, https://github.com/enactic/openarm_can.git
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+
+# OpenArm CAN Python bindings
+
+This is the Python bindings of OpenArm CAN library.
+
+> [!WARNING]
+>
+> ⚠️ **WARNING: UNSTABLE API** ⚠️
+> Python bindings are currently a direct low level **temporary port**, and will change **DRASTICALLY**.
+> The interface is may break between versions.Use at your own risk! Discussions on the interface are welcomed.

openarm_can-1.2.0/README.md

@@ -0,0 +1,9 @@
+# OpenArm CAN Python bindings
+
+This is the Python bindings of OpenArm CAN library.
+
+> [!WARNING]
+>
+> ⚠️ **WARNING: UNSTABLE API** ⚠️
+> Python bindings are currently a direct low level **temporary port**, and will change **DRASTICALLY**.
+> The interface is may break between versions.Use at your own risk! Discussions on the interface are welcomed.

openarm_can-1.2.0/build.sh

@@ -0,0 +1,62 @@
+#!/bin/bash
+#
+# Copyright 2025 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 script for OpenArm Python bindings
+
+set -eu
+
+# Get script directory
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
+
+echo "Building OpenArm Python bindings..."
+echo "Script directory: $SCRIPT_DIR"
+echo "Project root: $PROJECT_ROOT"
+
+# Check if we're in a virtual environment
+if [[ -n "${VIRTUAL_ENV:-}" ]]; then
+    echo "Using virtual environment (venv): $VIRTUAL_ENV"
+elif [[ -n "${CONDA_DEFAULT_ENV:-}" ]]; then
+    echo "Using conda environment: $CONDA_DEFAULT_ENV"
+else
+    echo "Warning: Not in a virtual environment. Consider using:"
+    echo "  python -m venv venv && source venv/bin/activate"
+    echo "  # or"
+    echo "  conda create -n myenv python=3.x && conda activate myenv"
+fi
+
+# Build the C++ library first if needed
+if [ ! -d "$PROJECT_ROOT/build" ]; then
+    echo "Building C++ library..."
+    cmake \
+        -S "$PROJECT_ROOT" \
+        -B "$PROJECT_ROOT/build" \
+        -DCMAKE_BUILD_TYPE=Debug \
+        -GNinja
+    cmake --build "$PROJECT_ROOT/build"
+    cmake --install "$PROJECT_ROOT/build"
+fi
+
+# Install in development mode
+echo "Installing in development mode..."
+pip install .
+
+echo "Build completed successfully!"
+echo ""
+echo "To test the installation, run:"
+echo "  python -c 'import openarm; print(openarm.__version__)'"
+echo ""
+echo "See examples/ directory for usage examples."

openarm_can-1.2.0/examples/example.py

@@ -0,0 +1,56 @@
+# Copyright 2025 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 openarm_can as oa
+import time
+# Create OpenArm instance
+
+arm = oa.OpenArm("can0", True)
+
+# Initialize arm motors
+motor_types = [oa.MotorType.DM4310, oa.MotorType.DM4310]
+send_ids = [0x01, 0x02]
+recv_ids = [0x11, 0x12]
+arm.init_arm_motors(motor_types, send_ids, recv_ids)
+
+# Initialize gripper
+arm.init_gripper_motor(oa.MotorType.DM4310, 0x7, 0x17)
+arm.set_callback_mode_all(oa.CallbackMode.IGNORE)
+# Use high-level operations
+arm.enable_all()
+arm.recv_all()
+
+
+# return to zero position
+arm.set_callback_mode_all(oa.CallbackMode.STATE)
+arm.get_arm().mit_control_all([oa.MITParam(2, 0.5, 0, 0, 0),
+                               oa.MITParam(2, 0.5, 0, 0, 0)])
+
+arm.recv_all()
+
+# torque control test
+
+arm.get_gripper().mit_control_all([oa.MITParam(0, 0, 0, 0, 0.15)])
+arm.get_arm().mit_control_all(
+    [oa.MITParam(0, 0, 0, 0, 0.15), oa.MITParam(0, 0, 0, 0, 0.15)])
+arm.recv_all()
+
+# read motor position
+while True:
+    arm.refresh_all()
+    arm.recv_all()
+    for motor in arm.get_arm().get_motors():
+        print(motor.get_position())
+    for motor in arm.get_gripper().get_motors():
+        print(motor.get_position())

openarm_can-1.2.0/examples/test_posvel.py

@@ -0,0 +1,44 @@
+# Copyright 2025 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 openarm_can as oa
+import time
+# Create OpenArm instance
+
+arm = oa.OpenArm("can0", True)
+
+# Initialize arm motors
+motor_types = [oa.MotorType.DM4310]
+send_ids = [0x0A]
+recv_ids = [0x1A]
+arm.init_arm_motors(motor_types, send_ids, recv_ids)
+
+# Use high-level operations
+arm.enable_all()
+arm.recv_all()
+
+# return to zero position
+arm.set_callback_mode_all(oa.CallbackMode.STATE)
+arm.get_arm().posvel_control_all([oa.PosVelParam(3.14 * 4, 20)])
+
+arm.recv_all()
+
+# read motor position
+while True:
+    arm.refresh_all()
+    arm.recv_all()
+    for motor in arm.get_arm().get_motors():
+        print(motor.get_position())
+    for motor in arm.get_gripper().get_motors():
+        print(motor.get_position())

openarm_can-1.2.0/openarm_can/__init__.py

@@ -0,0 +1,53 @@
+# Copyright 2025 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.
+
+
+"""
+OpenArm CAN Python bindings for motor control via SocketCAN.
+
+This package provides Python bindings for the OpenArm motor control system,
+allowing you to control DAMIAO motors through SocketCAN.
+"""
+
+from .openarm_can import *
+
+__version__ = "1.2.0"
+__author__ = "Enactic, Inc."
+
+# Direct export of C++ classes - no wrappers
+__all__ = [
+    # Enums
+    "MotorType",
+    "MotorVariable",
+    "CallbackMode",
+
+    # Data structures
+    "LimitParam",
+    "ParamResult",
+    "MotorStateResult",
+    "CanFrame",
+    "CanFdFrame",
+    "MITParam",
+
+    # Main C++ classes (1:1 mapping)
+    "Motor",
+    "MotorControl",
+    "CANSocket",           # Low-level socket with file descriptor access
+    "CANDevice",           # Base CAN device class
+    "MotorDeviceCan",      # Motor device management
+    "CANDeviceCollection",  # Device collection management
+
+    # Exceptions
+    "CANSocketException",
+]

openarm_can-1.2.0/pyproject.toml

@@ -0,0 +1,38 @@
+# Copyright 2025 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]
+build-backend = "scikit_build_core.build"
+requires = ["scikit-build-core", "nanobind"]
+
+[project]
+authors = [{name = "Enactic, Inc."}]
+# pyproject-metadta 0.7.1 on Ubuntu 24.04 doesn't accept PEP 639 yet.
+# license = "Apache-2.0"
+# license-files = ["LICENSE.txt"]
+license = {text = "Apache-2.0"}
+maintainers = [{name = "Enactic, Inc."}]
+name = "openarm_can"
+readme = "README.md"
+requires-python = ">= 3.10"
+version = "1.2.0"
+
+[project.urls]
+changelog = "https://github.com/enactic/openarm_can/releases"
+documentation = "https://docs.openarm.dev/software/can"
+homepage = "https://docs.openarm.dev/software/can"
+issues = "https://github.com/enactic/openarm_can/issues"
+repository = "https://github.com/enactic/openarm_can.git"
+
+[tool.autopep8]

openarm_can-1.2.0/requirements.txt

@@ -0,0 +1,13 @@
+# Copyright 2025 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.

openarm_can-1.2.0/setup.py

@@ -0,0 +1,60 @@
+# Copyright 2025 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.
+
+# If you can use build and mesonpy, you should use pyproject.toml and
+# meson.build intead of setup.py. setup.py is only for old environment
+# such as deb packages for Ubuntu 22.04.
+
+import pathlib
+
+from setuptools import setup, Extension
+from setuptools.command.build_ext import build_ext
+
+
+class cmake_build_ext(build_ext):
+    def build_extensions(self):
+        self.extensions = [
+            ext for ext in self.extensions if ext.name != '__dummy__']
+        super().run()
+
+    def run(self):
+        self._run_cmake()
+        super().run()
+
+    def _run_cmake(self):
+        source = pathlib.Path().absolute()
+        build_lib = pathlib.Path(self.build_lib).absolute()
+        build_temp = pathlib.Path(self.build_temp).absolute()
+        build_temp.mkdir(parents=True, exist_ok=True)
+        self.spawn([
+            "cmake",
+            "-S", str(source),
+            "-B", str(build_temp),
+            "-DCMAKE_BUILD_TYPE=Release",
+            f"-DCMAKE_INSTALL_PREFIX={build_lib}",
+        ])
+        self.spawn(["cmake", "--build", str(build_temp)])
+        self.spawn(["cmake", "--install", str(build_temp)])
+
+
+setup(
+    name="openarm_can",
+    version="1.2.0",
+    license="Apache-2.0",
+    license_files=["LICENSE.txt"],
+    ext_modules=[Extension('__dummy__', [])],
+    cmdclass={
+        "build_ext": cmake_build_ext,
+    }
+)

openarm_can-1.2.0/src/openarm_can.cpp

@@ -0,0 +1,413 @@
+// Copyright 2025 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.
+
+#include <nanobind/nanobind.h>
+#include <nanobind/stl/string.h>
+#include <nanobind/stl/vector.h>
+
+// Include the C++ headers
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#include <openarm/can/socket/arm_component.hpp>
+#include <openarm/can/socket/gripper_component.hpp>
+#include <openarm/can/socket/openarm.hpp>
+#include <openarm/canbus/can_device.hpp>
+#include <openarm/canbus/can_device_collection.hpp>
+#include <openarm/canbus/can_socket.hpp>
+#include <openarm/damiao_motor/dm_motor.hpp>
+#include <openarm/damiao_motor/dm_motor_constants.hpp>
+#include <openarm/damiao_motor/dm_motor_control.hpp>
+#include <openarm/damiao_motor/dm_motor_device.hpp>
+#include <openarm/damiao_motor/dm_motor_device_collection.hpp>
+
+using namespace openarm::canbus;
+using namespace openarm::damiao_motor;
+using namespace openarm::can::socket;
+
+namespace nb = nanobind;
+
+NB_MODULE(openarm_can, m) {
+    m.doc() = "OpenArm CAN Python bindings for motor control via SocketCAN";
+
+    // ============================================================================
+    // DAMIAO MOTOR NAMESPACE - ENUMS AND CONSTANTS
+    // ============================================================================
+
+    // Motor Type enum
+    nb::enum_<MotorType>(m, "MotorType")
+        .value("DM3507", MotorType::DM3507)
+        .value("DM4310", MotorType::DM4310)
+        .value("DM4310_48V", MotorType::DM4310_48V)
+        .value("DM4340", MotorType::DM4340)
+        .value("DM4340_48V", MotorType::DM4340_48V)
+        .value("DM6006", MotorType::DM6006)
+        .value("DM8006", MotorType::DM8006)
+        .value("DM8009", MotorType::DM8009)
+        .value("DM10010L", MotorType::DM10010L)
+        .value("DM10010", MotorType::DM10010)
+        .value("DMH3510", MotorType::DMH3510)
+        .value("DMH6215", MotorType::DMH6215)
+        .value("DMG6220", MotorType::DMG6220)
+        .value("COUNT", MotorType::COUNT)
+        .export_values();
+
+    // Motor Variable enum
+    nb::enum_<RID>(m, "MotorVariable")
+        .value("UV_Value", RID::UV_Value)
+        .value("KT_Value", RID::KT_Value)
+        .value("OT_Value", RID::OT_Value)
+        .value("OC_Value", RID::OC_Value)
+        .value("ACC", RID::ACC)
+        .value("DEC", RID::DEC)
+        .value("MAX_SPD", RID::MAX_SPD)
+        .value("MST_ID", RID::MST_ID)
+        .value("ESC_ID", RID::ESC_ID)
+        .value("TIMEOUT", RID::TIMEOUT)
+        .value("CTRL_MODE", RID::CTRL_MODE)
+        .value("Damp", RID::Damp)
+        .value("Inertia", RID::Inertia)
+        .value("hw_ver", RID::hw_ver)
+        .value("sw_ver", RID::sw_ver)
+        .value("SN", RID::SN)
+        .value("NPP", RID::NPP)
+        .value("Rs", RID::Rs)
+        .value("LS", RID::LS)
+        .value("Flux", RID::Flux)
+        .value("Gr", RID::Gr)
+        .value("PMAX", RID::PMAX)
+        .value("VMAX", RID::VMAX)
+        .value("TMAX", RID::TMAX)
+        .value("I_BW", RID::I_BW)
+        .value("KP_ASR", RID::KP_ASR)
+        .value("KI_ASR", RID::KI_ASR)
+        .value("KP_APR", RID::KP_APR)
+        .value("KI_APR", RID::KI_APR)
+        .value("OV_Value", RID::OV_Value)
+        .value("GREF", RID::GREF)
+        .value("Deta", RID::Deta)
+        .value("V_BW", RID::V_BW)
+        .value("IQ_c1", RID::IQ_c1)
+        .value("VL_c1", RID::VL_c1)
+        .value("can_br", RID::can_br)
+        .value("sub_ver", RID::sub_ver)
+        .value("u_off", RID::u_off)
+        .value("v_off", RID::v_off)
+        .value("k1", RID::k1)
+        .value("k2", RID::k2)
+        .value("m_off", RID::m_off)
+        .value("dir", RID::dir)
+        .value("p_m", RID::p_m)
+        .value("xout", RID::xout)
+        .value("COUNT", RID::COUNT)
+        .export_values();
+
+    // Callback Mode enum
+    nb::enum_<CallbackMode>(m, "CallbackMode")
+        .value("STATE", CallbackMode::STATE)
+        .value("PARAM", CallbackMode::PARAM)
+        .value("IGNORE", CallbackMode::IGNORE)
+        .export_values();
+
+    // ============================================================================
+    // DAMIAO MOTOR NAMESPACE - STRUCTS
+    // ============================================================================
+
+    // LimitParam struct
+    nb::class_<LimitParam>(m, "LimitParam")
+        .def(nb::init<>())
+        .def_rw("pMax", &LimitParam::pMax)
+        .def_rw("vMax", &LimitParam::vMax)
+        .def_rw("tMax", &LimitParam::tMax);
+
+    // ParamResult struct
+    nb::class_<ParamResult>(m, "ParamResult")
+        .def(nb::init<>())
+        .def_rw("rid", &ParamResult::rid)
+        .def_rw("value", &ParamResult::value)
+        .def_rw("valid", &ParamResult::valid);
+
+    // MotorStateResult struct
+    nb::class_<StateResult>(m, "MotorStateResult")
+        .def(nb::init<>())
+        .def_rw("position", &StateResult::position)
+        .def_rw("velocity", &StateResult::velocity)
+        .def_rw("torque", &StateResult::torque)
+        .def_rw("t_mos", &StateResult::t_mos)
+        .def_rw("t_rotor", &StateResult::t_rotor)
+        .def_rw("valid", &StateResult::valid);
+
+    // CANPacket struct
+    nb::class_<CANPacket>(m, "CANPacket")
+        .def(nb::init<>())
+        .def_rw("send_can_id", &CANPacket::send_can_id)
+        .def_rw("data", &CANPacket::data);
+
+    // MITParam struct
+    nb::class_<MITParam>(m, "MITParam")
+        .def(nb::init<>())
+        .def(
+            "__init__",
+            [](MITParam* param, double kp, double kd, double q, double dq, double tau) {
+                new (param) MITParam(MITParam{kp, kd, q, dq, tau});
+            },
+            nb::arg("kp"), nb::arg("kd"), nb::arg("q"), nb::arg("dq"), nb::arg("tau"))
+        .def_rw("kp", &MITParam::kp)
+        .def_rw("kd", &MITParam::kd)
+        .def_rw("q", &MITParam::q)
+        .def_rw("dq", &MITParam::dq)
+        .def_rw("tau", &MITParam::tau);
+
+    // PosVelParam struct
+    nb::class_<PosVelParam>(m, "PosVelParam")
+        .def(nb::init<>())
+        .def(
+            "__init__",
+            [](PosVelParam* param, double q, double dq) {
+                new (param) PosVelParam(PosVelParam{q, dq});
+            },
+            nb::arg("q"), nb::arg("dq"))
+        .def_rw("q", &PosVelParam::q)
+        .def_rw("dq", &PosVelParam::dq);
+    // ============================================================================
+    // DAMIAO MOTOR NAMESPACE - MAIN CLASSES
+    // ============================================================================
+
+    // Motor class
+    nb::class_<Motor>(m, "Motor")
+        .def(nb::init<MotorType, uint32_t, uint32_t>(), nb::arg("motor_type"),
+             nb::arg("send_can_id"), nb::arg("recv_can_id"))
+        .def("get_position", &Motor::get_position)
+        .def("get_velocity", &Motor::get_velocity)
+        .def("get_torque", &Motor::get_torque)
+        .def("get_state_tmos", &Motor::get_state_tmos)
+        .def("get_state_trotor", &Motor::get_state_trotor)
+        .def("get_send_can_id", &Motor::get_send_can_id)
+        .def("get_recv_can_id", &Motor::get_recv_can_id)
+        .def("get_motor_type", &Motor::get_motor_type)
+        .def("is_enabled", &Motor::is_enabled)
+        .def("get_param", &Motor::get_param, nb::arg("rid"))
+        .def_static("get_limit_param", &Motor::get_limit_param, nb::arg("motor_type"));
+
+    // MotorControl class
+    nb::class_<CanPacketEncoder>(m, "CanPacketEncoder")
+        .def_static("create_refresh_command", &CanPacketEncoder::create_refresh_command,
+                    nb::arg("motor"))
+        .def_static("create_enable_command", &CanPacketEncoder::create_enable_command,
+                    nb::arg("motor"))
+        .def_static("create_disable_command", &CanPacketEncoder::create_disable_command,
+                    nb::arg("motor"))
+        .def_static("create_set_zero_command", &CanPacketEncoder::create_set_zero_command,
+                    nb::arg("motor"))
+        .def_static("create_mit_control_command", &CanPacketEncoder::create_mit_control_command,
+                    nb::arg("motor"), nb::arg("mit_param"))
+        .def_static("create_posvel_control_command",
+                    &CanPacketEncoder::create_posvel_control_command, nb::arg("motor"),
+                    nb::arg("posvel_param"))
+        .def_static("create_query_param_command", &CanPacketEncoder::create_query_param_command,
+                    nb::arg("motor"), nb::arg("rid"));
+
+    nb::class_<CanPacketDecoder>(m, "CanPacketDecoder")
+        .def_static("parse_motor_state_data", &CanPacketDecoder::parse_motor_state_data,
+                    nb::arg("motor"), nb::arg("data"))
+        .def_static("parse_motor_param_data", &CanPacketDecoder::parse_motor_param_data,
+                    nb::arg("data"));
+
+    // ============================================================================
+    // CANBUS NAMESPACE - EXCEPTIONS AND BASE CLASSES
+    // ============================================================================
+
+    // CAN Socket Exception
+    nb::exception<CANSocketException>(m, "CANSocketException");
+
+    // CANDevice base class (MUST be defined before derived classes)
+    nb::class_<CANDevice>(m, "CANDevice")
+        .def("get_send_can_id", &CANDevice::get_send_can_id)
+        .def("get_recv_can_id", &CANDevice::get_recv_can_id)
+        .def("get_recv_can_mask", &CANDevice::get_recv_can_mask)
+        .def("is_fd_enabled", &CANDevice::is_fd_enabled);
+
+    // MotorDeviceCan class (NOW can inherit from CANDevice)
+    nb::class_<DMCANDevice, CANDevice>(m, "MotorDeviceCan")
+        .def(nb::init<Motor&, canid_t, bool>(), nb::arg("motor"), nb::arg("recv_can_mask"),
+             nb::arg("use_fd"))
+        .def("get_motor", &DMCANDevice::get_motor, nb::rv_policy::reference)
+        .def("callback",
+             static_cast<void (DMCANDevice::*)(const can_frame&)>(&DMCANDevice::callback),
+             nb::arg("frame"))
+        .def("callback",
+             static_cast<void (DMCANDevice::*)(const canfd_frame&)>(&DMCANDevice::callback),
+             nb::arg("frame"))
+        .def("create_can_frame", &DMCANDevice::create_can_frame, nb::arg("send_can_id"),
+             nb::arg("data"))
+        .def("create_canfd_frame", &DMCANDevice::create_canfd_frame, nb::arg("send_can_id"),
+             nb::arg("data"))
+        .def("set_callback_mode", &DMCANDevice::set_callback_mode, nb::arg("callback_mode"));
+
+    // CANDeviceCollection class
+    nb::class_<CANDeviceCollection>(m, "CANDeviceCollection")
+        .def(nb::init<CANSocket&>(), nb::arg("can_socket"))
+        .def(
+            "add_device",
+            [](CANDeviceCollection& self, std::shared_ptr<CANDevice> device) {
+                self.add_device(device);
+            },
+            nb::arg("device"))
+        .def(
+            "remove_device",
+            [](CANDeviceCollection& self, std::shared_ptr<CANDevice> device) {
+                self.remove_device(device);
+            },
+            nb::arg("device"))
+        .def("dispatch_frame_callback",
+             static_cast<void (CANDeviceCollection::*)(can_frame&)>(
+                 &CANDeviceCollection::dispatch_frame_callback),
+             nb::arg("frame"))
+        .def("dispatch_frame_callback",
+             static_cast<void (CANDeviceCollection::*)(canfd_frame&)>(
+                 &CANDeviceCollection::dispatch_frame_callback),
+             nb::arg("frame"))
+        .def("get_devices", &CANDeviceCollection::get_devices);
+
+    // CAN Socket class
+    nb::class_<CANSocket>(m, "CANSocket")
+        .def(nb::init<const std::string&, bool>(), nb::arg("interface"),
+             nb::arg("enable_fd") = false)
+        .def("get_socket_fd", &CANSocket::get_socket_fd)
+        .def("get_interface", &CANSocket::get_interface)
+        .def("is_canfd_enabled", &CANSocket::is_canfd_enabled)
+        .def("is_initialized", &CANSocket::is_initialized)
+        .def(
+            "read_raw_frame",
+            [](CANSocket& self, size_t buffer_size) {
+                std::vector<uint8_t> buffer(buffer_size);
+                ssize_t bytes_read = self.read_raw_frame(buffer.data(), buffer_size);
+                if (bytes_read > 0) {
+                    buffer.resize(bytes_read);
+                    return nb::bytes(reinterpret_cast<const char*>(buffer.data()), bytes_read);
+                }
+                return nb::bytes();
+            },
+            nb::arg("buffer_size"))
+        .def(
+            "write_raw_frame",
+            [](CANSocket& self, nb::bytes data) {
+                // nb::bytes::data() is available since nanobind 2.0.0.
+                return self.write_raw_frame(data.c_str(), data.size());
+            },
+            nb::arg("data"))
+        .def("write_can_frame", &CANSocket::write_can_frame, nb::arg("frame"))
+        .def("read_can_frame", &CANSocket::read_can_frame, nb::arg("frame"))
+        .def("write_canfd_frame", &CANSocket::write_canfd_frame, nb::arg("frame"))
+        .def("read_canfd_frame", &CANSocket::read_canfd_frame, nb::arg("frame"));
+
+    // ============================================================================
+    // LINUX CAN FRAME STRUCTURES
+    // ============================================================================
+
+    // CAN frame structures
+    nb::class_<can_frame>(m, "CanFrame")
+        .def(nb::init<>())
+        .def_rw("can_id", &can_frame::can_id)
+        .def_rw("can_dlc", &can_frame::can_dlc)
+        .def_prop_rw(
+            "data",
+            [](const can_frame& frame) {
+                return nb::bytes(reinterpret_cast<const char*>(frame.data), frame.can_dlc);
+            },
+            [](can_frame& frame, nb::bytes data) {
+                size_t len = std::min(data.size(), sizeof(frame.data));
+                frame.can_dlc = len;
+                // nb::bytes::data() is available since nanobind 2.0.0.
+                std::memcpy(frame.data, data.c_str(), len);
+            });
+
+    nb::class_<canfd_frame>(m, "CanFdFrame")
+        .def(nb::init<>())
+        .def_rw("can_id", &canfd_frame::can_id)
+        .def_rw("len", &canfd_frame::len)
+        .def_rw("flags", &canfd_frame::flags)
+        .def_prop_rw(
+            "data",
+            [](const canfd_frame& frame) {
+                return nb::bytes(reinterpret_cast<const char*>(frame.data), frame.len);
+            },
+            [](canfd_frame& frame, nb::bytes data) {
+                size_t len = std::min(data.size(), sizeof(frame.data));
+                frame.len = len;
+                // nb::bytes::data() is available since nanobind 2.0.0.
+                std::memcpy(frame.data, data.c_str(), len);
+            });
+
+    // ============================================================================
+    // TOP-LEVEL COMPONENT CLASSES
+    // ============================================================================
+
+    // DMDeviceCollection class (base class for ArmComponent and
+    // GripperComponent)
+    nb::class_<DMDeviceCollection>(m, "DMDeviceCollection")
+        .def(nb::init<CANSocket&>(), nb::arg("can_socket"))
+        .def("enable_all", &DMDeviceCollection::enable_all)
+        .def("disable_all", &DMDeviceCollection::disable_all)
+        .def("set_zero_all", &DMDeviceCollection::set_zero_all)
+        .def("refresh_all", &DMDeviceCollection::refresh_all)
+        .def("set_callback_mode_all", &DMDeviceCollection::set_callback_mode_all,
+             nb::arg("callback_mode"))
+        .def("query_param_all", &DMDeviceCollection::query_param_all, nb::arg("rid"))
+        .def("mit_control_one", &DMDeviceCollection::mit_control_one, nb::arg("index"),
+             nb::arg("mit_param"))
+        .def("mit_control_all", &DMDeviceCollection::mit_control_all, nb::arg("mit_params"))
+        .def("posvel_control_one", &DMDeviceCollection::posvel_control_one, nb::arg("index"),
+             nb::arg("posvel_param"))
+        .def("posvel_control_all", &DMDeviceCollection::posvel_control_all,
+             nb::arg("posvel_params"))
+        .def("get_motors", &DMDeviceCollection::get_motors)
+        .def("get_device_collection", &DMDeviceCollection::get_device_collection,
+             nb::rv_policy::reference);
+
+    // ArmComponent class
+    nb::class_<ArmComponent, DMDeviceCollection>(m, "ArmComponent")
+        .def(nb::init<CANSocket&>(), nb::arg("can_socket"))
+        .def("init_motor_devices", &ArmComponent::init_motor_devices, nb::arg("motor_types"),
+             nb::arg("send_can_ids"), nb::arg("recv_can_ids"), nb::arg("use_fd"));
+
+    // GripperComponent class
+    nb::class_<GripperComponent, DMDeviceCollection>(m, "GripperComponent")
+        .def(nb::init<CANSocket&>(), nb::arg("can_socket"))
+        .def("init_motor_device", &GripperComponent::init_motor_device, nb::arg("motor_type"),
+             nb::arg("send_can_id"), nb::arg("recv_can_id"), nb::arg("use_fd"))
+        .def("open", &GripperComponent::open, nb::arg("kp") = 50.0, nb::arg("kd") = 1.0)
+        .def("close", &GripperComponent::close, nb::arg("kp") = 50.0, nb::arg("kd") = 1.0)
+        .def("get_motor", &GripperComponent::get_motor, nb::rv_policy::reference_internal);
+
+    // OpenArm class (main high-level interface)
+    nb::class_<OpenArm>(m, "OpenArm")
+        .def(nb::init<const std::string&, bool>(), nb::arg("can_interface"),
+             nb::arg("enable_fd") = false)
+        .def("init_arm_motors", &OpenArm::init_arm_motors, nb::arg("motor_types"),
+             nb::arg("send_can_ids"), nb::arg("recv_can_ids"))
+        .def("init_gripper_motor", &OpenArm::init_gripper_motor, nb::arg("motor_type"),
+             nb::arg("send_can_id"), nb::arg("recv_can_id"))
+        .def("get_arm", &OpenArm::get_arm, nb::rv_policy::reference)
+        .def("get_gripper", &OpenArm::get_gripper, nb::rv_policy::reference)
+        .def("get_master_can_device_collection", &OpenArm::get_master_can_device_collection,
+             nb::rv_policy::reference)
+        .def("enable_all", &OpenArm::enable_all)
+        .def("disable_all", &OpenArm::disable_all)
+        .def("set_zero_all", &OpenArm::set_zero_all)
+        .def("refresh_all", &OpenArm::refresh_all)
+        .def("recv_all", &OpenArm::recv_all, nb::arg("timeout_us") = 500)
+        .def("set_callback_mode_all", &OpenArm::set_callback_mode_all, nb::arg("callback_mode"))
+        .def("query_param_all", &OpenArm::query_param_all, nb::arg("rid"));
+}