Koch 1.1

This is my calibration file. I should use a URDF to better visualize those positions.

Needed to set up wandb and get authenticated correctly

Commands

python lerobot/scripts/control_robot.py teleoperate \
  --robot-path lerobot/configs/robot/koch.yaml \
  --robot-overrides '~cameras'  # do not instantiate the cameras

Leader

{
  "homing_offset": [3272, 1024, -1024, 2048, 0, -2048],
  "drive_mode": [1, 1, 0, 1, 0, 0],
  "start_pos": [3042, 930, 1032, 2006, -34, 2273],
  "end_pos": [-2141, 35, 2106, -1070, 941, 2696],
  "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE"],
  "motor_names": [
    "shoulder_pan",
    "shoulder_lift",
    "elbow_flex",
    "wrist_flex",
    "wrist_roll",
    "gripper"
  ]
}

Follower

{
  "homing_offset": [2048, 3072, 3072, 2048, -4096, 2048],
  "drive_mode": [1, 1, 1, 1, 0, 1],
  "start_pos": [2028, 3058, 3017, 2118, 4069, 2069],
  "end_pos": [-999, -2083, -2015, -1081, 5061, -879],
  "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE"],
  "motor_names": [
    "shoulder_pan",
    "shoulder_lift",
    "elbow_flex",
    "wrist_flex",
    "wrist_roll",
    "gripper"
  ]
}