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update robot configs to add option for so100_bimanual

This commit is contained in:
Bryson Jones 2025-03-01 07:51:30 -08:00
parent 9c1a893ee3
commit cfa4702bef
1 changed files with 86 additions and 0 deletions
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86
lerobot/common/robot_devices/robots/configs.py
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@ -480,6 +480,92 @@ class So100RobotConfig(ManipulatorRobotConfig):
mock: bool = False
@RobotConfig.register_subclass("so100_bimanual")
@dataclass
class So100BimanualRobotConfig(ManipulatorRobotConfig):
calibration_dir: str = ".cache/calibration/so100_bimanual"
# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
# the number of motors in your follower arms.
max_relative_target: int | None = None
leader_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"left": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem585A0085511",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
},
),
"right": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem575E0031751",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
},
),
}
)
follower_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"left": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem585A0076891",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
},
),
"right": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem575E0032081",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
},
),
}
)
cameras: dict[str, CameraConfig] = field(
default_factory=lambda: {
"laptop": OpenCVCameraConfig(
camera_index=0,
fps=30,
width=640,
height=480,
),
"phone": OpenCVCameraConfig(
camera_index=1,
fps=30,
width=640,
height=480,
),
}
)
mock: bool = False
@RobotConfig.register_subclass("stretch")
@dataclass
class StretchRobotConfig(RobotConfig):