Add damiao motors and open arm robot

Author: pkooij

docs/source/openarms.mdx

@@ -102,8 +102,10 @@ grpcio-dep = ["grpcio==1.73.1", "protobuf==6.31.0"] # TODO: Bumb dependency (com
 # Motors
 feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
 dynamixel = ["dynamixel-sdk>=3.7.31,<3.9.0"]
+damiao = ["python-can>=4.2.0,<5.0.0"]
 
 # Robots
+openarms = ["lerobot[damiao]"]
 gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
 hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
 lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
@@ -148,6 +150,7 @@ metaworld = ["metaworld==3.0.0"]
 # All
 all = [
     "lerobot[dynamixel]",
+    "lerobot[openarms]",
     "lerobot[gamepad]",
     "lerobot[hopejr]",
     "lerobot[lekiwi]",

pyproject.toml

@@ -14,4 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .motors_bus import Motor, MotorCalibration, MotorNormMode, MotorsBus
+from .motors_bus import (
+    Motor,
+    MotorCalibration,
+    MotorNormMode,
+    MotorsBus,  # Backward compatibility (alias for SerialMotorsBus)
+    MotorsBusBase,
+    SerialMotorsBus,
+)