lerobot/lerobot/common/robots/aloha/configuration_aloha.py

from dataclasses import dataclass, field

from lerobot.common.cameras.configs import CameraConfig, IntelRealSenseCameraConfig
from lerobot.common.motors.configs import DynamixelMotorsBusConfig, MotorsBusConfig
from lerobot.common.robots.config_abc import ManipulatorRobotConfig, RobotConfig


@RobotConfig.register_subclass("aloha")
@dataclass
class AlohaRobotConfig(ManipulatorRobotConfig):
    # Specific to Aloha, LeRobot comes with default calibration files. Assuming the motors have been
    # properly assembled, no manual calibration step is expected. If you need to run manual calibration,
    # simply update this path to ".cache/calibration/aloha"
    calibration_dir: str = ".cache/calibration/aloha_default"

    # /!\ FOR SAFETY, READ THIS /!\
    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
    # the number of motors in your follower arms.
    # For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
    # When you feel more confident with teleoperation or running the policy, you can extend
    # this safety limit and even removing it by setting it to `null`.
    # Also, everything is expected to work safely out-of-the-box, but we highly advise to
    # first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
    # then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
    max_relative_target: int | None = 5

    leader_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "left": DynamixelMotorsBusConfig(
                # window_x
                port="/dev/ttyDXL_leader_left",
                motors={
                    # name: (index, model)
                    "waist": [1, "xm430-w350"],
                    "shoulder": [2, "xm430-w350"],
                    "shoulder_shadow": [3, "xm430-w350"],
                    "elbow": [4, "xm430-w350"],
                    "elbow_shadow": [5, "xm430-w350"],
                    "forearm_roll": [6, "xm430-w350"],
                    "wrist_angle": [7, "xm430-w350"],
                    "wrist_rotate": [8, "xl430-w250"],
                    "gripper": [9, "xc430-w150"],
                },
            ),
            "right": DynamixelMotorsBusConfig(
                # window_x
                port="/dev/ttyDXL_leader_right",
                motors={
                    # name: (index, model)
                    "waist": [1, "xm430-w350"],
                    "shoulder": [2, "xm430-w350"],
                    "shoulder_shadow": [3, "xm430-w350"],
                    "elbow": [4, "xm430-w350"],
                    "elbow_shadow": [5, "xm430-w350"],
                    "forearm_roll": [6, "xm430-w350"],
                    "wrist_angle": [7, "xm430-w350"],
                    "wrist_rotate": [8, "xl430-w250"],
                    "gripper": [9, "xc430-w150"],
                },
            ),
        }
    )

    follower_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "left": DynamixelMotorsBusConfig(
                port="/dev/ttyDXL_follower_left",
                motors={
                    # name: (index, model)
                    "waist": [1, "xm540-w270"],
                    "shoulder": [2, "xm540-w270"],
                    "shoulder_shadow": [3, "xm540-w270"],
                    "elbow": [4, "xm540-w270"],
                    "elbow_shadow": [5, "xm540-w270"],
                    "forearm_roll": [6, "xm540-w270"],
                    "wrist_angle": [7, "xm540-w270"],
                    "wrist_rotate": [8, "xm430-w350"],
                    "gripper": [9, "xm430-w350"],
                },
            ),
            "right": DynamixelMotorsBusConfig(
                port="/dev/ttyDXL_follower_right",
                motors={
                    # name: (index, model)
                    "waist": [1, "xm540-w270"],
                    "shoulder": [2, "xm540-w270"],
                    "shoulder_shadow": [3, "xm540-w270"],
                    "elbow": [4, "xm540-w270"],
                    "elbow_shadow": [5, "xm540-w270"],
                    "forearm_roll": [6, "xm540-w270"],
                    "wrist_angle": [7, "xm540-w270"],
                    "wrist_rotate": [8, "xm430-w350"],
                    "gripper": [9, "xm430-w350"],
                },
            ),
        }
    )

    # Troubleshooting: If one of your IntelRealSense cameras freeze during
    # data recording due to bandwidth limit, you might need to plug the camera
    # on another USB hub or PCIe card.
    cameras: dict[str, CameraConfig] = field(
        default_factory=lambda: {
            "cam_high": IntelRealSenseCameraConfig(
                serial_number=128422271347,
                fps=30,
                width=640,
                height=480,
            ),
            "cam_low": IntelRealSenseCameraConfig(
                serial_number=130322270656,
                fps=30,
                width=640,
                height=480,
            ),
            "cam_left_wrist": IntelRealSenseCameraConfig(
                serial_number=218622272670,
                fps=30,
                width=640,
                height=480,
            ),
            "cam_right_wrist": IntelRealSenseCameraConfig(
                serial_number=130322272300,
                fps=30,
                width=640,
                height=480,
            ),
        }
    )

    mock: bool = False