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lerobot
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linux only

This commit is contained in:
Remi Cadene 2024-07-29 18:25:40 +02:00
parent 1af22d685b
commit 1be6fc3a7d
1 changed files with 4 additions and 4 deletions
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8
lerobot/common/robot_devices/robots/factory.py
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@ -9,7 +9,7 @@ def make_robot(name):
robot = KochRobot( robot = KochRobot(
leader_arms={ leader_arms={
"main": DynamixelMotorsBus( "main": DynamixelMotorsBus(
port="/dev/tty.usbmodem575E0031751", port="/dev/ttyACM1",
motors={ motors={
# name: (index, model) # name: (index, model)
"shoulder_pan": (1, "xl330-m077"), "shoulder_pan": (1, "xl330-m077"),
@ -23,7 +23,7 @@ def make_robot(name):
}, },
follower_arms={ follower_arms={
"main": DynamixelMotorsBus( "main": DynamixelMotorsBus(
port="/dev/tty.usbmodem575E0032081", port="/dev/ttyACM0",
motors={ motors={
# name: (index, model) # name: (index, model)
"shoulder_pan": (1, "xl430-w250"), "shoulder_pan": (1, "xl430-w250"),
@ -36,8 +36,8 @@ def make_robot(name):
), ),
}, },
cameras={ cameras={
"laptop": OpenCVCamera(0, fps=30, width=640, height=480), "laptop": OpenCVCamera("/dev/video2", fps=30, width=640, height=480),
"phone": OpenCVCamera(1, fps=30, width=640, height=480), "phone": OpenCVCamera("/dev/video6", fps=30, width=640, height=480),
}, },
) )
else: else: