| # Stringman (Neufangled), "Arpeggio" layout, carbon 270 mm pole. Every number says where it came from. | |
| # fw = github.com/nhnifong/cranebot3-firmware @ 370287a (2026-10-07). fw-sim = its simulator/ (MuJoCo model + bridge), | |
| # whose own README lists which of its numbers are guesses. MEASURE = not in the docs or the firmware: a guess until | |
| # measured on the real machine. Full table with reasoning: docs/MACHINE.md. | |
| room: | |
| # fw-sim: a 4 m square room, anchors (2,2,2) and (-2,-2,2). Docs: anchors ~13 cm below the ceiling. We keep the | |
| # fw-sim footprint but put the mount points at 2.30 m (a 2.43 m ceiling, the common one): fw-sim's 2.0 m leaves the | |
| # gripper no reach to a high shelf (lines flatten, tension grows as 1/sin(angle)). | |
| side_m: 4.0 | |
| mount_z_m: 2.30 | |
| # corner mount points, xy, inset from the walls by the anchor's eyelet offset (fw definitions.arp_anchor_*_eyelet, | |
| # ~5 cm). Order = the firmware's line order: 0 anchor0 direct, 1 anchor0 indirect (via post A), 2 anchor1 direct, | |
| # 3 anchor1 indirect (via post B) (fw-sim tendons line_0..3). | |
| mounts_xy: [[1.95, 1.95], [-1.95, 1.95], [-1.95, -1.95], [1.95, -1.95]] | |
| indirect_run_m: [0.0, 3.93, 0.0, 3.93] # fixed cross-room run of the indirect lines (fw-sim: 3.9301 m) | |
| lines: | |
| # fw-sim: 4000 N/m per line at ~3 m (its README: "may be too stiff; real monofilament stretches considerably more"). | |
| # We write it as EA = k * L so a longer line (indirect, + 3.93 m) is softer: EA = 4000 * 3.0. MEASURE. | |
| EA_N: 12000.0 | |
| damping_Ns_m: 40.0 # fw-sim kv 80 + tendon damping 4; halved: kv acts on a slack line too. MEASURE | |
| max_force_N: 40.0 # fw spool_dm NO_CONN_TENSION_LIMIT 40 N (motor torque cut); fw-sim caps at 25 N | |
| max_safe_tension_N: 28.0 # fw config_loader default (16 N backfill on older configs; observer default 16) | |
| tension_floor_N: 0.1 # fw spool_dm TENSION_FLOOR_N: the spool reels in to keep this on every line | |
| tension_kp_mps_per_N: 0.3 # fw spool_dm TENSION_KP | |
| tension_corr_max_mps: 0.5 # fw spool_dm MAX_TENSION_CORRECTION_MPS | |
| spool: | |
| loop_hz: 50 # fw spool_dm LOOP_FREQ_HZ | |
| max_line_speed_mps: 2.0 # fw spool_dm MAX_SAFE_LINE_SPEED | |
| # Line acceleration. fw spool_dm MAX_ACCEL 0.01 and config max_accel 0.3 go to the DaMiao ACC register in units the | |
| # code does not state; fw-sim floors it at 5 rad/s^2 "so the simulator is usable". 5 rad/s^2 x 0.229 m/rev / 2pi | |
| # (72-73 mm spool, fw definitions.damiao_*) = 0.18 m/s^2 of line. MEASURE (step a line speed, log encoder). | |
| line_accel_mps2: 0.18 | |
| meters_per_rev: 0.229 # pi x 73 mm (fw definitions.damiao_full_spool_diameter_fishing_line) | |
| host: | |
| # fw observer.speed_limit(): 0.35 m/s (0.45 with firmware gate "speed_0.45"); the norm of the summed velocity. | |
| speed_limit_mps: 0.35 | |
| velocity_key_ttl_s: 2.0 # fw observer INPUT_VELOCITY_TTL_S: a keyed velocity expires 2 s after its last update | |
| estimator_hz: 60 # fw position_estimator.predict_forwards (visual update 30 Hz, commanded-vel 30 Hz) | |
| # move_direction_speed adds downward_bias -0.04 to unit vectors; with speed=None (the LeRobot path, and ours) the | |
| # velocity is used as given. Line speeds come from finite differences at the ESTIMATED gantry position, once per | |
| # command (KINEMATICS_STEP_SCALE 10): our plant does the same every planner tick. | |
| body: | |
| # Gantry + pole + gripper hang as ONE rigid body from the point where the 4 lines meet (fw-sim; fw swing.py treats it | |
| # as a pendulum). Masses: fw-sim estimates ("nothing in the firmware repo records them"). MEASURE (kitchen scale). | |
| gantry_mass_kg: 0.35 | |
| pole_mass_kg: 0.045 | |
| gripper_mass_kg: 0.60 | |
| finger_mass_kg: 0.04 | |
| hook_r_m: 0.055 # fw-sim (from gantry.glb): lines clip to cross arms 55 mm out, on the diagonals | |
| hook_z_m: 0.02 | |
| pole_top_z_m: -0.06 | |
| pole_bottom_z_m: -0.329 # fw-sim: pole_offset_carbon270 - grommet height 0.1167 | |
| gripper_origin_z_m: -0.4457 # fw definitions.pole_offset_carbon270 (0.5757 - 0.13) | |
| gripper_cog_dz_m: 0.055 # fw definitions.gripper_cog (y-up gripper frame: 55 mm above the gripper origin) | |
| # Swing: fw definitions.pole_length_carbon270 = 0.3089 m effective (measured with 'polecal'): period 1.115 s. The | |
| # gripper inertia is solved at build time so the twin's swing period matches it (fw-sim is ~10 % long, its README). | |
| swing_length_m: 0.3089 | |
| # swing damping on the body's rotation (N m s): zeta ~ 0.02 = c / (2 I_O omega), I_O ~ 0.12 kg m^2, omega 5.8 rad/s, | |
| # 1/e in ~9 s. fw-sim has none (its swing never decays); fw observer fits a decay during 'polecal'. MEASURE. | |
| swing_damping_Nms: 0.03 | |
| finger_pivot_x_m: 0.025 # fw-sim: two fingers pivot at x = +-0.025, close side to side, geared on one servo | |
| finger_pivot_dz_m: 0.041 # pivot above the gripper origin (fw-sim, gripper.glb) | |
| finger_len_m: 0.110 # pivot to pad centre, down (fw-sim pad_left pos y -0.110) | |
| pad_inset_m: 0.019 # pad centre inside the pivot when closed (fw-sim pad pos x -0.019) | |
| pad_half: [0.006, 0.022, 0.030] # fw-sim pad box half sizes (x across, y along, z vertical) | |
| finger_travel_deg: 59.0 # fw gripper_arp_server.FINGER_TRAVEL_DEG; firmware reports -90 (open)..90 (closed) | |
| camera_dy_m: 0.026 # fw definitions.gripper_camera: 27 mm toward the nose, tilted 9.06 deg back | |
| camera_dz_m: 0.0026 | |
| camera_tilt_deg: 9.06 | |
| camera_fovy_deg: 42.557 # fw-sim: 2 atan(192/493), cameraCalWide; stream 684x384 @ 54 fps | |
| camera_res: [684, 384] | |
| laser_dy_m: -0.050 # fw-sim rangefinder site (0, 0.0025, 0.0502) in the gripper frame | |
| laser_dz_m: 0.0025 | |
| gripper: | |
| loop_hz: 60 # fw gripper_arp_server DT = 1/60 | |
| wrist_range_deg: [0, 1080] # docs python_api; fw-sim joint +-3 pi about the neutral heading | |
| wrist_max_dps: 180.0 # MEASURE: docs ease_wrist peak 90 deg/s default; servo ST3215 class ~ 300 deg/s | |
| finger_max_dps: 360.0 # MEASURE (firmware-degrees per s on the -90..90 scale, ~118 real deg/s) | |
| action_timeout_s: 0.2 # fw ACTION_TIMEOUT: wrist/finger speeds zero after 0.2 s without a command | |
| # ----------------------------------------------------------------------------------------------- the hand (M3) | |
| # Which hand hangs under the pole. stringman = the firmware gripper above (two fingers geared on one servo): M0-M2 and | |
| # cdpr_wm_g1 were built on it. so101 = the SO-101's wrist_roll + gripper (two STS3215) and its wrist camera, for the | |
| # pick-waste missions with real objects (2026-10-09). load_config(hand=...) overrides; so101 replaces `body`'s gripper | |
| # numbers and `gripper`'s loop numbers with the ones below. | |
| hand: stringman | |
| so101: | |
| # Source: armpilot/third_party/so101/so101_new_calib_camera.xml (onshape-to-robot from the SO-101 CAD) unless noted; | |
| # geometry measured from its meshes in MuJoCo (2026-10-09). Hand frame = the SO-101 gripper link frame: origin on the | |
| # wrist_roll axis at the follower's top face, z up along that axis (= the pole), jaws close along x, camera at +y. | |
| hand_origin_z_m: -0.374 # MEASURE: pole bottom (-0.329) - 45 mm for the roll servo + adapter plate | |
| roll_servo_mass_kg: 0.079 # the SO-101 `wrist` link (roll servo + bracket): stands in for servo + adapter. MEASURE | |
| roll_servo_half: [0.0124, 0.0175, 0.0225] # STS3215 45.2 x 24.7 x 35 mm (datasheet), shaft along the pole | |
| gripper_mass_kg: 0.087 # `gripper` link: gripper servo + fixed jaw (wrist_roll_follower) | |
| gripper_com: [0.000214, 0.000245, -0.025187] | |
| gripper_fullinertia: [2.75087e-05, 4.33657e-05, 3.45059e-05, -3.35241e-07, -5.7352e-06, -5.17847e-08] | |
| jaw_mass_kg: 0.012 # `moving_jaw_so101_v1` | |
| jaw_com: [-0.00157, -0.0193, -0.0300] # its inertial, rotated into the hand frame (jaw link is +90 deg about x) | |
| jaw_diaginertia: [6.61e-06, 5.29e-06, 1.89e-06] | |
| camera_mass_kg: 0.035 # wrist_camera_mount 0.020 + wrist_camera 0.015 (32x32 UVC module) | |
| # gripper servo body (mesh bounds): x -0.015..0.0304, y -0.0193..0.0203, z -0.0358..-0.011 | |
| servo_box: {pos: [0.0077, 0.0005, -0.0234], half: [0.0227, 0.0198, 0.0124]} | |
| # fixed jaw finger: inner face x = -0.0079 (the lerobot `gripperframe` site sits on it at z -0.098), tip z -0.1044 | |
| fixed_jaw: {x: [-0.0235, -0.0079], y: [-0.008, 0.008], z: [-0.1044, -0.011]} | |
| # moving jaw: hinge at the anchor about hand -y (SO-101 `gripper` joint); finger in the hand frame at q = 0 relative to | |
| # the anchor; inner face 15.8 mm from the fixed jaw's at q = 0, 1.9 mm at the joint's lower limit -10 deg (the pads, | |
| # 1 mm each here, meet there) | |
| jaw_anchor: [0.0202, 0.0188, -0.0234] | |
| moving_jaw: {x: [-0.0123, 0.0045], y: [-0.0266, -0.0110], z: [-0.082, 0.010]} | |
| pad_len_m: 0.030 # bottom 3 cm of each jaw's inner face is the pad | |
| pad_mu: 1.0 # MEASURE: PLA jaws (often taped); Stringman's rubber pads were 1.5 | |
| jaw_closed_deg: -10.0 # SO-101 gripper joint lower limit: the pads touch (lerobot 0 = fully closed) | |
| jaw_full_open_deg: 100.0 # joint upper limit: the moving jaw horizontal, tips 10 cm out | |
| jaw_open_deg: 50.0 # closure 0 (MEASURE with the real toys and socks). Tip gap from the meshes | |
| # (2026-10-09): 0 deg 16 mm, 30 deg 53, 50 deg 75, 70 deg 83 (widest), 100 deg 18. Opening | |
| # lifts the moving tip: 50 deg puts it 19 mm above the fixed jaw's (-85 vs -104 mm) | |
| swing_length_m: 0.217 # the twin's pendulum with this hand: period 0.935 s (2026-10-09). MEASURE: polecal | |
| jaw_open_gap_m: 0.0745 # tip gap at jaw_open_deg (the mesh table above): the task centres the object in it | |
| wrist_range_deg: [-157.2, 162.8] # wrist_roll joint limits (-2.7438, 2.8412 rad) | |
| # STS3215. Joint side (damping, armature, friction): the `sts3215` class, a fit adapted from Open Duck Mini (so101 | |
| # README). Its kp 998 / kv 2.73 are NOT what the real gripper does: they saturate at 0.17 deg of error, so in the twin | |
| # the load banged +-100 % while closing and read 100 % on every hold (hand_feel 2026-10-09). LeRobot's so_follower | |
| # configure() sets P_Coefficient 16 (default 32) on every servo and, on the gripper, Max_Torque_Limit 500 (50 %), | |
| # Protection_Current 250, Overload_Torque 25. Refit on the REAL gripper holding an 11 mm pen (armpilot runs | |
| # 2026-10-07/08, Present_Load / 10 = % of max torque): squeezed 0.020 rad past contact -> 8.8-10.4 %; told fully | |
| # closed, stopped 0.08 rad short -> 26-28 % held (31-44 % peak while closing); kp ~10 N m/rad fits both (6.8 + friction, | |
| # 27 %). Slow free close (~0.2 rad/s, feel_grasp 2026-10-07): ~4 % load; damping 0.60 predicts 4.3 %, kept. | |
| servo: {stall_Nm: 2.94, damping: 0.60, armature: 0.028, frictionloss: 0.052} | |
| jaw_servo: {kp: 10.0, kv: 0.3, torque_limit_frac: 0.5} # kv: MEASURE (lerobot D_Coefficient 32, units unknown) | |
| wrist_servo: {kp: 10.0, kv: 0.3, torque_limit_frac: 1.0} # MEASURE: same P_Coefficient 16, assumed the jaw's kp | |
| servo_max_dps: 270.0 # MEASURE: STS3215 12 V datasheet 0.222 s / 60 deg no load. The host's ramp on the | |
| # jaw and the wrist (lerobot sends goal positions; the servo moves at its own speed) | |
| camera_pos: [0.0025, 0.0734, 0.0066] # `wrist_camera` link origin; its +z (optical axis) points at the jaw tips | |
| camera_xyaxes: [1, 0, 0, 0, 0.906, -0.424] # MuJoCo looks along -z: z_cam = -(optical axis); 25 deg off straight down | |
| camera_fovy_deg: 70.70 # armpilot calib/wrist.json (640x480, 1.54 px rms, 2026-10) | |
| camera_res: [640, 480] | |
| grasp_local: [-0.0079, 0.0, -0.098] # lerobot `gripperframe`: on the fixed jaw's face. An object of width w sits | |
| # w/2 further along +x: OFF the pole axis (the tasks must rotate it by the wrist) | |
| load_lsb_pct: 0.1 # STS3215 Present_Load: 0.1 % of max torque per count (Feetech memory table, 0-1000) | |
| sim: | |
| timestep_s: 0.004 # plant; checked against 0.002 (fw-sim) in tests/test_scene.py | |