lerobot/test_cool_config.json

{
  "glove": {
    "base_class": "lerobot.teleoperators.homunculus.homunculus_glove.HomunculusGlove",
    "port": "/dev/ttyACM0",
    "id": "unitree_glove_test",
    "side": "right",
    "baud_rate": 115200,
    "robot_actions": {
      "kRightShoulderPitch.pos": {
        "source": "teleop",
        "joint": "index_mcp_flexion"
      },
      "kRightShoulderRoll.pos": {
        "source": "neutral",
        "value": 0.5
      },
      "kRightShoulderYaw.pos": {
        "source": "teleop",
        "joint": "thumb_cmc"
      },
      "kRightElbow.pos": {
        "source": "teleop",
        "joint": "middle_mcp_flexion",
        "invert": true
      },
      "kRightWristRoll.pos": {
        "source": "teleop",
        "joint": "middle_dip"
      },
      "kRightWristPitch.pos": {
        "source": "neutral",
        "value": 0.5
      },
      "kRightWristYaw.pos": {
        "source": "neutral",
        "value": 0.5
      },
      "kLeftShoulderPitch.pos": {
        "source": "teleop",
        "joint": "pinky_mcp_flexion"
      },
      "kLeftShoulderRoll.pos": {
        "source": "neutral",
        "value": 0.5
      },
      "kLeftShoulderYaw.pos": {
        "source": "teleop",
        "joint": "thumb_cmc",
        "invert": true
      },
      "kLeftElbow.pos": {
        "source": "teleop",
        "joint": "ring_mcp_flexion",
        "invert": true
      },
      "kLeftWristRoll.pos": {
        "source": "teleop",
        "joint": "ring_dip"
      },
      "kLeftWristPitch.pos": {
        "source": "neutral",
        "value": 0.5
      },
      "kLeftWristyaw.pos": {
        "source": "neutral",
        "value": 0.5
      }
    }
  }
}