60 lines
1.9 KiB
YAML
60 lines
1.9 KiB
YAML
# [SO-100 robot arm](https://github.com/TheRobotStudio/SO-ARM100)
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# Requires installing extras packages
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# With pip: `pip install -e ".[feetech]"`
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# With poetry: `poetry install --sync --extras "feetech"`
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# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md)
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_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
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robot_type: so100
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calibration_dir: .cache/calibration/so100
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# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
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# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
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# the number of motors in your follower arms.
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max_relative_target: null
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joint_position_relative_bounds:
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max: [ 7.2158203e+01, 1.5398438e+02, 1.6075195e+02, 9.3251953e+01, 0., -1.4184397e-01]
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min: [-77.08008, 56.25, 60.55664, 19.511719, 0., -0.63829786]
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leader_arms:
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main:
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_target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
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port: /dev/tty.usbmodem58760433331
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motors:
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# name: (index, model)
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shoulder_pan: [1, "sts3215"]
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shoulder_lift: [2, "sts3215"]
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elbow_flex: [3, "sts3215"]
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wrist_flex: [4, "sts3215"]
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wrist_roll: [5, "sts3215"]
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gripper: [6, "sts3215"]
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follower_arms:
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main:
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_target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
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port: /dev/tty.usbmodem58760431631
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motors:
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# name: (index, model)
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shoulder_pan: [1, "sts3215"]
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shoulder_lift: [2, "sts3215"]
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elbow_flex: [3, "sts3215"]
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wrist_flex: [4, "sts3215"]
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wrist_roll: [5, "sts3215"]
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gripper: [6, "sts3215"]
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cameras:
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front:
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_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
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camera_index: 0
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fps: 30
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width: 640
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height: 480
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side:
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_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
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camera_index: 1
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fps: 30
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width: 640
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height: 480
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