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