xlerobot-VR/config.yaml at master · flyingc2004/xlerobot-VR · GitHub

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# Telerobot Configuration
# Copy this file to config.yaml and adjust to match your setup.

robot:
  id: duo_robot
  fps: 30
  use_rerun: false  # set to true to enable the Rerun viewer

cameras:
  left_wrist:
    index: /dev/v4l/by-path/pci-0000:0a:00.0-usb-0:10.1:1.0-video-index0
    width: 640
    height: 480
    fps: 20
  main:
    index: /dev/v4l/by-path/pci-0000:0a:00.0-usb-0:9:1.0-video-index0
    width: 640
    height: 480
    fps: 20
  right_wrist:
    index: /dev/v4l/by-path/pci-0000:0a:00.0-usb-0:10.2:1.0-video-index0
    width: 320
    height: 240
    fps: 10
    warmup_s: 4

arms:
  left:
    type: so100
    port: /dev/ttyACM1
    use_degrees: true
    cameras: [left_wrist, main]   # which cameras are attached to this arm
    regularization: 1.0e-4
    end_effector_step_sizes: { x: 0.2, y: 0.2, z: 0.5 }
    end_effector_bounds:
      min: [-1.0, -1.0, -1.0]
      max: [1.0, 1.0, 1.0]
    max_ee_step_m: 0.20
    gripper_speed_factor: 10.0
  right:
    type: so100
    port: /dev/ttyACM0
    use_degrees: true
    cameras: [right_wrist]   # which cameras are attached to this arm
    regularization: 1.0e-4
    end_effector_step_sizes: { x: 0.2, y: 0.2, z: 0.5 }
    end_effector_bounds:
      min: [-1.0, -1.0, -1.0]
      max: [1.0, 1.0, 1.0]
    max_ee_step_m: 0.20
    gripper_speed_factor: 10.0

# Uncomment to enable episode recording to a LeRobot dataset
#   dataset:
#     repo_id: "<YOUR_HF_USERNAME>/vr_test_dual_arms"
#     single_task: "Grab the cube"
#     push_to_hub: true  # set to true to push the dataset to Hugging Face Hub on save
#     # root: "./datasets"  # optional: override dataset storage path