54 lines
1.7 KiB
YAML
54 lines
1.7 KiB
YAML
_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
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robot_type: so_100
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calibration_dir: .cache/calibration/so_100
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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: 5
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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.usbmodem585A0080521
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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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# ~ Koch specific settings ~
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# Sets the leader arm in torque mode with the gripper motor set to this angle. This makes it possible
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# to squeeze the gripper and have it spring back to an open position on its own.
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gripper_open_degree: 35.156
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