From 56b66b9542b0fe9cd7d4db298845d716f2fcec8f Mon Sep 17 00:00:00 2001
From: Martino Russi <nopyeps@gmail.com>
Date: Fri, 21 Nov 2025 14:13:04 +0100
Subject: [PATCH] add example config for custom teleop class

---
 .../teleoperators/custom/custom_config.json   | 76 +++++++++++++++++++
 1 file changed, 76 insertions(+)
 create mode 100644 src/lerobot/teleoperators/custom/custom_config.json

diff --git a/src/lerobot/teleoperators/custom/custom_config.json b/src/lerobot/teleoperators/custom/custom_config.json
new file mode 100644
index 000000000..a305bbe72
--- /dev/null
+++ b/src/lerobot/teleoperators/custom/custom_config.json
@@ -0,0 +1,76 @@
+{
+  "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
+      }
+    }
+  }
+}