Sazabi06

Impedance control theory, implementation details, tuning guidelines, and teach mode operation for the OpenArm compliance controller. Covers the core control equation, gravity compensation, friction modeling, impedance profiles, and force estimation.

Core coding guidelines inspired by Andrej Karpathy's observations on LLM coding pitfalls, focusing on thinking before coding, simplicity, surgical changes, and goal-driven execution.

IK solver selection, MoveIt 2 integration, 7-DOF redundancy handling, and Cartesian goal execution for the OpenArm V10 robot.

Hardware interface knowledge for the OpenArm V10 bimanual robot — DaMiao motor specs, CAN-FD configuration, motor offset calibration, safety floors, and common troubleshooting procedures.

Admittance control for xArm5 using ros2_control, UFACTORY F/T sensor, profile management, and VLA integration roadmap.

Architecture and deployment guide for running VLA model inference on OpenArm — the UDP/ZMQ server-bridge pattern, EMA smoothing, action chunking, safety filters, and multi-model support (SmolVLA, pi-0.5, GR00T N1.7).

Complete guide for VLA training data collection on OpenArm — teach mode demonstration recording, LeRobot format conversion, dataset validation, and known pitfalls that caused $40+ in wasted training runs.

Camera configuration, hand-eye calibration, YOLO object detection, and visual reaching demo for the OpenArm V10 bimanual robot.

CompliantVLA paper architecture mapping, gap analysis between our system and the paper, VLM impedance scheduling roadmap, and end-to-end integration plan.

Architecture and deployment guide for running VLA model inference on OpenArm — the UDP/ZMQ server-bridge pattern, EMA smoothing, action chunking, safety filters, and multi-model support (SmolVLA, pi-0.5, GR00T N1.7).