A unified motor control interface for IC ARM robotic system supporting multiple motor types including Damiao, High Torque, and Servo motors.

This project provides a complete workflow for robotic arm control, from basic motor operations to advanced trajectory execution and analysis.

# Install in development mode
pip install -e .

The main control interface is provided by IC_ARM.py:

python -c "from ic_arm_control.control.IC_ARM import ICARM; arm = ICARM()"

Monitor real-time arm positions:

python -m ic_arm_control.tools.position_monitor

Calibrate motor zero positions:

python -m ic_arm_control.tools.set_zero_position

Build and export URDF files to the urdfs/ folder:

# URDF files are generated and stored in ./urdfs/ directory

Sync URDF directions with MuJoCo simulation:

python -m ic_arm_control.tools.mujoco_simulation

Set joint limits in the URDF:

python -m ic_arm_control.tools.urdf_limit_updater

Generate test trajectories:

python -m ic_arm_control.tools.trajectory_generator

Execute generated trajectories:

python -m ic_arm_control.tools.trajectory_executor

Analyze minimum geometric constraints:

python -m ic_arm_control.control.utils.minimum_gc

The IC ARM now supports geometric constraint (GC) flag for advanced control modes.

ic_arm_control/
├── control/           # Core control modules
│   ├── IC_ARM.py     # Main ARM control interface
│   ├── unified_motor_control.py  # Unified motor interface
│   ├── damiao.py     # Damiao motor control
│   ├── ht_motor.py   # High Torque motor control
│   ├── servo_motor.py # Servo motor control
│   └── utils/        # Utility functions
└── tools/            # Tools and utilities
    ├── position_monitor.py
    ├── set_zero_position.py
    ├── mujoco_simulation.py
    ├── urdf_limit_updater.py
    ├── trajectory_generator.py
    ├── trajectory_executor.py
    └── trajectory_analysis.py

• Unified Motor Control: Support for multiple motor types through a single interface
• Real-time Monitoring: Position, velocity, and torque monitoring
• Trajectory Planning: Advanced trajectory generation and execution
• MuJoCo Integration: Seamless simulation support
• URDF Support: Complete robot description and configuration
• Safety Features: Emergency stop and error handling mechanisms