94 lines
2.8 KiB
YAML
94 lines
2.8 KiB
YAML
_target_: lerobot.common.robot_devices.robots.koch.KochRobot
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robot_type: aloha
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calibration_path: .cache/calibration/aloha.pkl
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leader_arms:
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left:
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_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
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#port: /dev/ttyDXL_master_left
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port: /dev/tty.usbserial-FT89FM77
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motors: # window_x
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# name: (index, model)
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waist_a: [1, xm430-w350]
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waist_b: [2, xm430-w350]
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shoulder_a: [3, xm430-w350]
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shoulder_b: [4, xm430-w350]
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elbow: [5, xm430-w350]
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forearm_roll: [6, xm430-w350]
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wrist_angle: [7, xm430-w350]
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wrist_rotate: [8, xl430-w250]
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# gripper: [9, xl430-w250]
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gripper: [9, xc430-w150]
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right:
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_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
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#port: /dev/ttyDXL_master_right
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port: /dev/tty.usbserial-FT891KPN
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motors: # window_x
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# name: (index, model)
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waist_a: [1, xm430-w350]
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waist_b: [2, xm430-w350]
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shoulder_a: [3, xm430-w350]
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shoulder_b: [4, xm430-w350]
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elbow: [5, xm430-w350]
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forearm_roll: [6, xm430-w350]
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wrist_angle: [7, xm430-w350]
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wrist_rotate: [8, xl430-w250]
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# gripper: [9, xl430-w250]
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gripper: [9, xc430-w150]
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follower_arms:
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left:
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_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
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#port: /dev/ttyDXL_puppet_left
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port: /dev/tty.usbserial-FT891KBG
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motors:
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# name: [index, model]
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waist_a: [1, xm540-w270]
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waist_b: [2, xm540-w270]
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shoulder_a: [3, xm540-w270]
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shoulder_b: [4, xm540-w270]
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elbow: [5, xm540-w270]
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forearm_roll: [6, xm540-w270]
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wrist_angle: [7, xm540-w270]
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wrist_rotate: [8, xm430-w350]
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gripper: [9, xm430-w350]
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right:
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_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
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#port: /dev/ttyDXL_puppet_right
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port: /dev/tty.usbserial-FT89FM09
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motors:
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# name: [index, model]
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waist_a: [1, xm540-w270]
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waist_b: [2, xm540-w270]
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shoulder_a: [3, xm540-w270]
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shoulder_b: [4, xm540-w270]
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elbow: [5, xm540-w270]
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forearm_roll: [6, xm540-w270]
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wrist_angle: [7, xm540-w270]
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wrist_rotate: [8, xm430-w350]
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gripper: [9, xm430-w350]
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cameras:
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cam_high:
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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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cam_low:
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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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cam_left_wrist:
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_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
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camera_index: 2
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fps: 30
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width: 640
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height: 480
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cam_right_wrist:
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_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
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camera_index: 3
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fps: 30
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width: 640
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height: 480
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