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aloha.yaml

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Remi Cadene 2024-07-30 15:20:28 +02:00
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lerobot/configs/robot/aloha.yaml Normal file
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_target_: lerobot.common.robot_devices.robots.koch.KochRobot
calibration_path: .cache/calibration/aloha.pkl
leader_arms:
left:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
#port: /dev/ttyDXL_master_left
port: /dev/tty.usbserial-FT89FM77
motors: # window_x
# name: (index, model)
waist_a: [1, xm430-w350]
waist_b: [2, xm430-w350]
shoulder_a: [3, xm430-w350]
shoulder_b: [4, xm430-w350]
elbow: [5, xm430-w350]
forearm_roll: [6, xm430-w350]
wrist_angle: [7, xm430-w350]
wrist_rotate: [8, xl430-w250]
# gripper: [9, xl430-w250]
gripper: [9, xc430-w150]
right:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
#port: /dev/ttyDXL_master_right
port: /dev/tty.usbserial-FT891KPN
motors: # window_x
# name: (index, model)
waist_a: [1, xm430-w350]
waist_b: [2, xm430-w350]
shoulder_a: [3, xm430-w350]
shoulder_b: [4, xm430-w350]
elbow: [5, xm430-w350]
forearm_roll: [6, xm430-w350]
wrist_angle: [7, xm430-w350]
wrist_rotate: [8, xl430-w250]
# gripper: [9, xl430-w250]
gripper: [9, xc430-w150]
follower_arms:
left:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
#port: /dev/ttyDXL_puppet_left
port: /dev/tty.usbserial-FT891KBG
motors:
# name: [index, model]
waist_a: [1, xm540-w270]
waist_b: [2, xm540-w270]
shoulder_a: [3, xm540-w270]
shoulder_b: [4, xm540-w270]
elbow: [5, xm540-w270]
forearm_roll: [6, xm540-w270]
wrist_angle: [7, xm540-w270]
wrist_rotate: [8, xm430-w350]
gripper: [9, xm430-w350]
right:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
#port: /dev/ttyDXL_puppet_right
port: /dev/tty.usbserial-FT89FM09
motors:
# name: [index, model]
waist_a: [1, xm540-w270]
waist_b: [2, xm540-w270]
shoulder_a: [3, xm540-w270]
shoulder_b: [4, xm540-w270]
elbow: [5, xm540-w270]
forearm_roll: [6, xm540-w270]
wrist_angle: [7, xm540-w270]
wrist_rotate: [8, xm430-w350]
gripper: [9, xm430-w350]
cameras:
cam_high:
_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
camera_index: 0
fps: 30
width: 640
height: 480
cam_low:
_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
camera_index: 1
fps: 30
width: 640
height: 480
cam_left_wrist:
_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
camera_index: 2
fps: 30
width: 640
height: 480
cam_right_wrist:
_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
camera_index: 3
fps: 30
width: 640
height: 480