Bundle the default configuration for OpenArm Cell

pyproject.toml

@@ -37,6 +37,11 @@ Changelog = "https://github.com/enactic/dora-openarm/releases"
 Issues = "https://github.com/enactic/dora-openarm/issues"
 Repository = "https://github.com/enactic/dora-openarm.git"
 
+[tool.setuptools.package-data]
+"dora_openarm" = [
+    "*.yaml",
+]
+
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle

src/dora_openarm/main.py

@@ -76,6 +76,7 @@ def _env_flag(name, default=False):
 def main():
     """Move to the given position and output the current position."""
     parser = argparse.ArgumentParser(description="Control OpenArm")
+    base_dir = os.path.dirname(__file__)
     parser.add_argument(
         "--side",
         choices=["right", "left"],
@@ -84,7 +85,7 @@ def main():
     )
     parser.add_argument(
         "--config",
-        default="openarm_cell.yaml",
+        default=f"{base_dir}/openarm_cell.yaml",
         help="The configuration file for this OpenArm",
         type=pathlib.Path,
     )

src/dora_openarm/openarm_cell.yaml

@@ -0,0 +1,98 @@
+# 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.
+
+# OpenArm Driver Configuration
+
+# Joint limits for right and left arms [min, max] in radians
+joint_limits:
+  right_arm:
+    - [-1.3, 2.0]           # joint1
+    - [-0.174533, 2.0]      # joint2
+    - [-1.570796, 1.570796] # joint3
+    - [0.0, 2.443461]       # joint4
+    - [-1.570796, 1.570796] # joint5
+    - [-0.785398, 0.785398] # joint6
+    - [-1.570796, 1.570796] # joint7
+    - [-1.047198, 0.4]      # joint8
+
+  left_arm:
+    - [-2.0, 1.396263]      # joint1
+    - [-2.0, 0.174533]      # joint2
+    - [-1.570796, 1.570796] # joint3
+    - [0.0, 2.443461]       # joint4
+    - [-1.570796, 1.570796] # joint5
+    - [-0.785398, 0.785398] # joint6
+    - [-1.570796, 1.570796] # joint7
+    - [-0.4, 1.047198]      # joint8
+
+joint_offsets:
+  right_arm: [0.0, -0.506145, 1.570796, -1.745329, 0.0, 0.331612, -1.570796, 0.0]
+  left_arm: [0.0, 0.506145, -1.570796, -1.745329, 0.0, -0.331612, 1.570796, 0.0]
+
+# Joint delta position limits (rad/s).
+joint_delta_position_limits:
+  - 1.8 # J0
+  - 1.8 # J1
+  - 3.3 # J2
+  - 2.3 # J3
+  - 3.5 # J4
+  - 3.5 # J5
+  - 3.5 # J6
+  - 3.5 # J7
+
+# CAN interface
+can_interface:
+  right_arm: "can0"
+  left_arm: "can1"
+
+# Motor configuration
+motor_config:
+  types: ['DM8009', 'DM8009', 'DM4340', 'DM4340', 'DM4310', 'DM4310', 'DM4310', 'DM3507']
+  send_ids: [0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08]
+  recv_ids: [0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18]
+
+# IF using POS_FORCE gripper, set to "POS_FORCE"
+# If POS_FORCE mode is used, you can set force limits here. and control gains will be ignored.
+# If MIT mode is used, control gains will be applied.
+gripper_posforce: true
+# This value will be used only if gripper_control_mode is "POS_FORCE"
+# index 0: max rad/s index 1: max force (Nm)
+gripper_posforce_limits: [50.0, 1.0]
+
+# Default PD control gains
+control_gains:
+  kps: [230.0, 230.0, 190.0, 190.0, 30.0, 30.0, 30.0, 10.0]
+  kds: [2.7, 2.7, 2.2, 2.2, 1.5, 1.5, 1.5, 0.2]
+  # kps: [80.0, 80.0, 80.0, 80.0, 20.0, 20.0, 20.0, 10.0]
+  # kds: [2.7, 2.7, 2.2, 2.2, 1.5, 1.5, 1.5, 0.2]
+
+# Start configuration
+start:
+  moves:
+    - name: "initial"
+      position:
+        right_arm: [0.0, 0.0, -0.0, 1.5707963267948966, 0.0, 0.0, 0.0, 0.0]
+        left_arm: [-0.0, 0.0, 0.0, 1.5707963267948966, 0.0, 0.0, 0.0, 0.0]
+      hz: 50
+      duration: 2
+
+# Stop configuration
+stop:
+  moves:
+    - name: "initial"
+      position:
+        right_arm: [0.0, 0.0, -0.0, 1.5707963267948966, 0.0, 0.0, 0.0, 0.0]
+        left_arm: [-0.0, 0.0, 0.0, 1.5707963267948966, 0.0, 0.0, 0.0, 0.0]
+      hz: 50
+      duration: 2