Trossen WidowX AI and SO-ARM101 support - #7
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- build_deps.sh gains a pinned libtrossen_arm section (v1.10.0, prebuilt static lib + headers): the iNerve controller rejects a driver whose major.minor doesn't match its firmware, so the SDK ref is pinned and verified like the other native deps. - Per-dep skip: an existing install artifact at the pinned ref means the dep is done, so re-runs are idempotent instead of rebuilding Pinocchio from scratch every time. - CMake learns the trossen prefix; pyproject adds trossen-arm==1.10.0 (Python-side discovery/zeroing/IP provisioning, pinned to the same SDK release) and pyserial>=3.5 (USB-serial bus-servo sessions). No consumer of the new deps yet; the build is unchanged until the driver stacks land. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Two new connection forms alongside SocketCAN: - EthernetConnection: a whole-arm Ethernet controller (e.g. Trossen iNerve) at a fixed IPv4 address. - SerialConnection: a USB-serial bus-servo chain (e.g. SO-ARM101 FeeTech) at a /dev tty path. connection_for_interface() dispatches the interface part of a runtime bus spec onto the right type -- the three forms never overlap (IPv4 literal -> Ethernet, /dev path -> serial, otherwise SocketCAN) -- so runtime configs can drive all bus families through one entry point. ArmConfig.catalog_baudrate() surfaces the model catalog's bus baud rate (required for serial buses). Model-catalog entries for the new arms land with their driver stacks. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
… drivers - buses.py grows ethernet (Trossen iNerve reachability/session) and USB-serial (pyserial) session types beside SocketCAN, with the same check/open/receive surface the zeroing tools drive. - New per-family drivers: ft_serial (FeeTech SMS/STS protocol -- ping/scan/register read/write/checksum, EEPROM-lock-wrapped calibrate-middle set_zero, baudrate get/set) and trossen_eth (controller discovery, reachability probe, whole-arm EEPROM zeroing, IP provisioning and host-subnet helpers). - The registry gains a WHOLE_ARM_ZERO contract: controller-managed arms zero in one whole-arm operation instead of per-servo; the existing CAN/serial families declare False. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
New TROSSEN_ETHERNET driver stack for whole-arm-controller hardware:
- pi_trossen_shim: isolation .so around the prebuilt libtrossen_arm.a.
The vendor archive statically bundles its own pinocchio/urdfdom/
tinyxml2; linking it into the node directly interposes those symbols
with the node's shared pinocchio and SIGSEGVs in ModelTpl::addJoint
during configure. The archive links into a dedicated shared library
with every archive symbol hidden (--exclude-libs,ALL), so only the
shim API is exported.
- DriverController: vendor-neutral whole-arm-controller Driver base
with a stall watchdog -- vendor stacks keep streaming the last
command from a driver-internal daemon even when the host loop hangs,
so a watchdog thread idles the arm after 1 s of driver silence.
- DriverTrossen: the iNerve Ethernet driver (leader/follower mass
profiles, clear_error recovery, configure timeout); ServoController /
DeviceEffectorController map controller joints onto the existing
device model ('controller' arm/effector types).
- Trossen_wai_ctrl + E_Trossen_ctrl model assets. The gripper
protective-stop limit is +-120 (gripper effort is Newtons, not Nm;
firm ~75 N grasps tripped a +-30 threshold).
- Python: EthernetConnection reachability validation and the controller
IP as the node's --control_port; get_field_value_optional() silences
missing-optional-field warnings shared by the new stacks.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
New FEETECH driver stack for USB-serial bus-servo arms:
- DriverSerial: protocol-neutral serial bus driver (a future Dynamixel
port slots in beside it); DriverFt speaks the FeeTech SMS/STS
protocol; ServoFt maps STS3215 registers (position/velocity/load,
torque enable, profile acceleration via prof_accel).
- DeviceArmNello / DeviceEffectorNello: the hobby bus-servo device
types ('nello' arm/effector); the effector toggles gripper torque
through the new Servo::enable_torque() virtual, which fast-fails on
families without a torque-enable register.
- Baud plumbing end to end: --baud_rate (default 3,000,000 bps) beside
the existing node options, start(cla.baud_rate), and the Python
backend passing the model catalog's declared baud with the serial
device path.
- SO101 + E_SO101 model assets (5-DOF; the catalog's only non-6-DOF
arm) and a dedicated movements-test trajectory CSV.
- SerialConnection device-existence validation client-side. Inference
configs are not included -- this lands the hardware bring-up path.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Ports the Trossen and SO-ARM101 hardware families onto main in five independently buildable commits:
Preserves all main-only fixes (parent-liveness monitor, lock hygiene, SIL quarantine); the new-feature hunks were applied around them.
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