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add example config for custom teleop class

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Martino Russi
2025-11-21 14:13:04 +01:00
parent 30c3bbef7b
commit 56b66b9542
1 changed files with 76 additions and 0 deletions
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76
src/lerobot/teleoperators/custom/custom_config.json Normal file
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{
"right_arm": {
"base_class": "lerobot.teleoperators.homunculus.homunculus_arm.HomunculusArm",
"port": "/dev/ttyACM0",
"id": "unitree_right",
"baud_rate": 115200,
"robot_actions": {
"kRightShoulderPitch.pos": {
"source": "neutral",
"value": 0.5
},
"kRightShoulderRoll.pos": {
"source": "neutral",
"value": 0.5
},
"kRightShoulderYaw.pos": {
"source": "neutral",
"value": 0.5
},
"kRightElbow.pos": {
"source": "neutral",
"value": 0.5
},
"kRightWristRoll.pos": {
"source": "teleop",
"joint": "wrist_roll",
"invert": true
},
"kRightWristPitch.pos": {
"source": "neutral",
"value": 0.5
},
"kRightWristYaw.pos": {
"source": "neutral",
"value": 0.5
}
}
},
"left_arm": {
"base_class": "lerobot.teleoperators.homunculus.homunculus_arm.HomunculusArm",
"port": "/dev/ttyACM1",
"id": "unitree_left",
"baud_rate": 115200,
"robot_actions": {
"kLeftShoulderPitch.pos": {
"source": "neutral",
"value": 0.5
},
"kLeftShoulderRoll.pos": {
"source": "neutral",
"value": 0.5
},
"kLeftShoulderYaw.pos": {
"source": "neutral",
"value": 0.5
},
"kLeftElbow.pos": {
"source": "neutral",
"value": 0.5
},
"kLeftWristRoll.pos": {
"source": "teleop",
"joint": "wrist_roll",
"invert": true
},
"kLeftWristPitch.pos": {
"source": "neutral",
"value": 0.5
},
"kLeftWristyaw.pos": {
"source": "neutral",
"value": 0.5
}
}
}
}