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/**
* SO-100 specific configuration for web calibration
* Matches Node.js SO-100 config structure and Python lerobot exactly
*/
/**
* STS3215 Protocol Configuration for SO-100 devices
*/
export const WEB_STS3215_PROTOCOL = {
resolution: 4096, // 12-bit resolution (0-4095)
homingOffsetAddress: 31, // Address for Homing_Offset register
homingOffsetLength: 2, // 2 bytes for Homing_Offset
presentPositionAddress: 56, // Address for Present_Position register
presentPositionLength: 2, // 2 bytes for Present_Position
minPositionLimitAddress: 9, // Address for Min_Position_Limit register
minPositionLimitLength: 2, // 2 bytes for Min_Position_Limit
maxPositionLimitAddress: 11, // Address for Max_Position_Limit register
maxPositionLimitLength: 2, // 2 bytes for Max_Position_Limit
signMagnitudeBit: 11, // Bit 11 is sign bit for Homing_Offset encoding
} as const;
/**
* SO-100 Device Configuration
* Motor names, IDs, and drive modes for both follower and leader
*/
export const SO100_CONFIG = {
motorNames: [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper",
],
motorIds: [1, 2, 3, 4, 5, 6],
// Python lerobot uses drive_mode=0 for all SO-100 motors
driveModes: [0, 0, 0, 0, 0, 0],
};
/**
* Create SO-100 calibration configuration
*/
export function createSO100Config(
deviceType: "so100_follower" | "so100_leader"
) {
return {
deviceType,
motorNames: SO100_CONFIG.motorNames,
motorIds: SO100_CONFIG.motorIds,
driveModes: SO100_CONFIG.driveModes,
protocol: WEB_STS3215_PROTOCOL,
};
}
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