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[Port HIl-Serl] Refactor gym-manipulator (#1034)

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This commit is contained in:
Michel Aractingi
2025-04-25 16:34:54 +02:00
committed by GitHub
parent a8da4a347e
commit bd4db8d747
13 changed files with 624 additions and 946 deletions
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4
lerobot/common/robot_devices/robots/configs.py
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@@ -443,7 +443,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
leader_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem58760433331",
port="/dev/tty.usbmodem58760431091",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
@@ -460,7 +460,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
follower_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem58760431631",
port="/dev/tty.usbmodem585A0076891",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],