729b4ed697
- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training. - Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml. Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
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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min: [-88.50586, 23.81836, 0.87890625, -32.16797, 78.66211, 0.53691274]
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max: [84.55078, 187.11914, 145.98633, 101.60156, 146.60156, 88.18792]
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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.usbmodem585A0080971
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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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laptop:
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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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phone:
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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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