tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Changed bounds for a new so100 robot

Browse Source 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-13 15:43:30 +01:00
parent c462a478c7
commit 0c32008466
3 changed files with 9 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
lerobot/configs/robot/so100.yaml
View File

@@ -14,14 +14,9 @@ calibration_dir: .cache/calibration/so100
# 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
joint_position_relative_bounds:
min: [-87.09961, 62.402344, 67.23633, 36.035156, 77.34375,
0.53691274]
max: [58.183594, 131.83594, 145.98633, 82.08984, 78.22266,
0.60402685]
# min: [-88.50586, 23.81836, 0.87890625, -32.16797, 78.66211, 0.53691274]
# max: [84.55078, 187.11914, 145.98633, 101.60156, 146.60156, 88.18792]
joint_position_relative_bounds:
max: [ 7.2158203e+01, 1.5398438e+02, 1.6075195e+02, 9.3251953e+01, 0., -1.4184397e-01]
min: [-77.08008, 56.25, 60.55664, 19.511719, 0., -0.63829786]
leader_arms:
main:
@@ -39,7 +34,7 @@ leader_arms:
follower_arms:
main:
_target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
port: /dev/tty.usbmodem585A0080971
port: /dev/tty.usbmodem58760431631
motors:
# name: (index, model)
shoulder_pan: [1, "sts3215"]