lerobot-clone/src/lerobot/teleoperators/custom/custom_config.json

{
  "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
      }
    }
  }
}