-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathpanda.yaml
100 lines (91 loc) · 3.59 KB
/
panda.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
# [Aloha: A Low-Cost Hardware for Bimanual Teleoperation](https://www.trossenrobotics.com/aloha-stationary)
# https://aloha-2.github.io
# Requires installing extras packages
# With pip: `pip install -e ".[dynamixel intelrealsense]"`
# With poetry: `poetry install --sync --extras "dynamixel intelrealsense"`
# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/9_use_aloha.md)
_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
robot_type: aloha
# Specific to Aloha, LeRobot comes with default calibration files. Assuming the motors have been
# properly assembled, no manual calibration step is expected. If you need to run manual calibration,
# simply update this path to ".cache/calibration/aloha"
calibration_dir: .cache/calibration/aloha_default
# /!\ FOR SAFETY, READ THIS /!\
# `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.
# For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
# When you feel more confident with teleoperation or running the policy, you can extend
# this safety limit and even removing it by setting it to `null`.
# Also, everything is expected to work safely out-of-the-box, but we highly advise to
# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
max_relative_target: 5
leader_arms:
left:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/ttyDXL_leader_left
motors: # window_x
# name: (index, model)
joint1: [1, panda1]
joint2: [2, panda2]
joint3: [3, panda3]
joint4: [4, panda4]
joint5: [5, panda5]
joint6: [6, panda6]
joint7: [7, panda7]
gripper1: [8, hand1]
gripper2: [9, hand2]
right:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/ttyDXL_leader_right
motors: # window_x
# name: (index, model)
joint1: [1, panda1]
joint2: [2, panda2]
joint3: [3, panda3]
joint4: [4, panda4]
joint5: [5, panda5]
joint6: [6, panda6]
joint7: [7, panda7]
gripper1: [8, hand1]
gripper2: [9, hand2]
follower_arms:
left:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/ttyDXL_follower_left
motors:
# name: (index, model)
joint1: [1, panda1]
joint2: [2, panda2]
joint3: [3, panda3]
joint4: [4, panda4]
joint5: [5, panda5]
joint6: [6, panda6]
joint7: [7, panda7]
gripper1: [8, hand1]
# gripper2: [9, hand2]
right:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/ttyDXL_follower_right
motors:
# name: (index, model)
joint1: [1, panda1]
joint2: [2, panda2]
joint3: [3, panda3]
joint4: [4, panda4]
joint5: [5, panda5]
joint6: [6, panda6]
joint7: [7, panda7]
gripper1: [8, hand1]
# gripper2: [9, hand2]
# Troubleshooting: If one of your IntelRealSense cameras freeze during
# data recording due to bandwidth limit, you might need to plug the camera
# on another USB hub or PCIe card.
cameras:
main:
_target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera
serial_number: 128422271347
fps: 30
width: 640
height: 480