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Add FeetechMotorsBus, SO-100, Moss-v1 (#419)

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Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-10-25 11:23:55 +02:00
committed by GitHub
parent 114870d703
commit 07e8716315
42 changed files with 2911 additions and 340 deletions
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lerobot/configs/robot/so100.yaml Normal file
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# [SO-100 robot arm](https://github.com/TheRobotStudio/SO-ARM100)
# Requires installing extras packages
# With pip: `pip install -e ".[feetech]"`
# With poetry: `poetry install --sync --extras "feetech"`
# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md)
_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
robot_type: so100
calibration_dir: .cache/calibration/so100
# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
# the number of motors in your follower arms.
max_relative_target: null
leader_arms:
main:
_target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
port: /dev/tty.usbmodem585A0077581
motors:
# name: (index, model)
shoulder_pan: [1, "sts3215"]
shoulder_lift: [2, "sts3215"]
elbow_flex: [3, "sts3215"]
wrist_flex: [4, "sts3215"]
wrist_roll: [5, "sts3215"]
gripper: [6, "sts3215"]
follower_arms:
main:
_target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
port: /dev/tty.usbmodem585A0080971
motors:
# name: (index, model)
shoulder_pan: [1, "sts3215"]
shoulder_lift: [2, "sts3215"]
elbow_flex: [3, "sts3215"]
wrist_flex: [4, "sts3215"]
wrist_roll: [5, "sts3215"]
gripper: [6, "sts3215"]
cameras:
laptop:
_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
camera_index: 0
fps: 30
width: 640
height: 480
phone:
_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
camera_index: 1
fps: 30
width: 640
height: 480