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This commit is contained in:
Remi Cadene
2024-08-01 08:14:55 +02:00
parent e447b7c269
commit cd927e18dd
1 changed files with 4 additions and 4 deletions
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8
lerobot/configs/robot/aloha.yaml
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@@ -5,7 +5,7 @@ leader_arms:
left: left:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/ttyDXL_master_left port: /dev/ttyDXL_master_left
#port: /dev/tty.usbserial-FT89FM77 # port: /dev/tty.usbserial-FT89FM77
motors: # window_x motors: # window_x
# name: (index, model) # name: (index, model)
waist: [1, xm430-w350] waist: [1, xm430-w350]
@@ -20,7 +20,7 @@ leader_arms:
right: right:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/ttyDXL_master_right port: /dev/ttyDXL_master_right
#port: /dev/tty.usbserial-FT891KPN # port: /dev/tty.usbserial-FT891KPN
motors: # window_x motors: # window_x
# name: (index, model) # name: (index, model)
waist: [1, xm430-w350] waist: [1, xm430-w350]
@@ -37,7 +37,7 @@ follower_arms:
left: left:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/ttyDXL_puppet_left port: /dev/ttyDXL_puppet_left
#port: /dev/tty.usbserial-FT891KBG # port: /dev/tty.usbserial-FT891KBG
motors: motors:
# name: [index, model] # name: [index, model]
waist: [1, xm540-w270] waist: [1, xm540-w270]
@@ -52,7 +52,7 @@ follower_arms:
right: right:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/ttyDXL_puppet_right port: /dev/ttyDXL_puppet_right
#port: /dev/tty.usbserial-FT89FM09 # port: /dev/tty.usbserial-FT89FM09
motors: motors:
# name: [index, model] # name: [index, model]
waist: [1, xm540-w270] waist: [1, xm540-w270]