_target_: lerobot.common.robot_devices.robots.koch.KochRobot
calibration_path: .cache/calibration/koch.pkl
leader_arms:
  main:
    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
    port: /dev/tty.usbmodem575E0031751
    motors:
      # name: (index, model)
      shoulder_pan: [1, "xl330-m077"]
      shoulder_lift: [2, "xl330-m077"]
      elbow_flex: [3, "xl330-m077"]
      wrist_flex: [4, "xl330-m077"]
      wrist_roll: [5, "xl330-m077"]
      gripper: [6, "xl330-m077"]
follower_arms:
  main:
    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
    port: /dev/tty.usbmodem575E0032081
    motors:
      # name: (index, model)
      shoulder_pan: [1, "xl430-w250"]
      shoulder_lift: [2, "xl430-w250"]
      elbow_flex: [3, "xl330-m288"]
      wrist_flex: [4, "xl330-m288"]
      wrist_roll: [5, "xl330-m288"]
      gripper: [6, "xl330-m288"]
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