Configured for bimanual operation

.cache/calibration/koch_bimanual/left_follower.json

@@ -0,0 +1 @@
+{"homing_offset": [-2048, 3072, 2048, -2048, 2048, 2048], "drive_mode": [0, 1, 1, 0, 1, 1], "start_pos": [2059, 3063, 2027, 2042, 2041, 2068], "end_pos": [3088, -1957, -904, 2947, -988, -986], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

.cache/calibration/koch_bimanual/left_leader.json

@@ -0,0 +1 @@
+{"homing_offset": [-4096, 3072, 3072, 0, 4096, -2048], "drive_mode": [0, 1, 1, 0, 1, 0], "start_pos": [4085, 3048, 3014, -85, 3914, 1945], "end_pos": [5102, -2053, -2063, 1064, -2976, 2666], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

.cache/calibration/koch_bimanual/right_follower.json

@@ -0,0 +1,50 @@
+{
+    "homing_offset": [
+        2048,
+        2048,
+        3072,
+        -2048,
+        -3072,
+        3072
+    ],
+    "drive_mode": [
+        1,
+        1,
+        1,
+        0,
+        0,
+        1
+    ],
+    "start_pos": [
+        2083,
+        2022,
+        2978,
+        1919,
+        3054,
+        3079
+    ],
+    "end_pos": [
+        -1069,
+        -995,
+        -1928,
+        2944,
+        4125,
+        -2109
+    ],
+    "calib_mode": [
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE"
+    ],
+    "motor_names": [
+        "shoulder_pan",
+        "shoulder_lift",
+        "elbow_flex",
+        "wrist_flex",
+        "wrist_roll",
+        "gripper"
+    ]
+}

.cache/calibration/koch_bimanual/right_leader.json

@@ -0,0 +1,50 @@
+{
+    "homing_offset": [
+        2048,
+        3072,
+        -1024,
+        -2048,
+        -4096,
+        -3072
+    ],
+    "drive_mode": [
+        1,
+        1,
+        0,
+        0,
+        0,
+        0
+    ],
+    "start_pos": [
+        2016,
+        3110,
+        1081,
+        1674,
+        4111,
+        2955
+    ],
+    "end_pos": [
+        -1067,
+        -1989,
+        2089,
+        2995,
+        5149,
+        3672
+    ],
+    "calib_mode": [
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE"
+    ],
+    "motor_names": [
+        "shoulder_pan",
+        "shoulder_lift",
+        "elbow_flex",
+        "wrist_flex",
+        "wrist_roll",
+        "gripper"
+    ]
+}

calibrate.sh

@@ -0,0 +1,3 @@
+#/bin/bash
+
+python lerobot/scripts/control_robot.py calibrate --robot-path lerobot/configs/robot/koch_bimanual_jack.yaml --arms left_follower left_leader

lerobot/configs/robot/koch_bimanual_jack.yaml

@@ -0,0 +1,75 @@
+_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
+robot_type: koch
+calibration_dir: .cache/calibration/koch_bimanual
+
+# `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.
+max_relative_target: null
+
+leader_arms:
+  left:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/ttyACM1
+    motors:
+      # name: (index, model)
+      shoulder_pan: [1, "xl330-m077"]
+      shoulder_lift: [2, "xl330-m077"]
+      elbow_flex: [3, "xl330-m077"]
+      wrist_flex: [4, "xl330-m077"]
+      wrist_roll: [5, "xl330-m077"]
+      gripper: [6, "xl330-m077"]
+  right:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/ttyACM3
+    motors:
+      # name: (index, model)
+      shoulder_pan: [1, "xl330-m077"]
+      shoulder_lift: [2, "xl330-m077"]
+      elbow_flex: [3, "xl330-m077"]
+      wrist_flex: [4, "xl330-m077"]
+      wrist_roll: [5, "xl330-m077"]
+      gripper: [6, "xl330-m077"]
+
+follower_arms:
+  left:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/ttyACM2
+    motors:
+      # name: (index, model)
+      shoulder_pan: [1, "xl430-w250"]
+      shoulder_lift: [2, "xl430-w250"]
+      elbow_flex: [3, "xl330-m288"]
+      wrist_flex: [4, "xl330-m288"]
+      wrist_roll: [5, "xl330-m288"]
+      gripper: [6, "xl330-m288"]
+  right:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/ttyACM0
+    motors:
+      # name: (index, model)
+      shoulder_pan: [1, "xl430-w250"]
+      shoulder_lift: [2, "xl430-w250"]
+      elbow_flex: [3, "xl330-m288"]
+      wrist_flex: [4, "xl330-m288"]
+      wrist_roll: [5, "xl330-m288"]
+      gripper: [6, "xl330-m288"]
+
+cameras:
+  elp0:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 0
+    fps: 15
+    width: 800
+    height: 600
+  elp1:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 4
+    fps: 15
+    width: 800
+    height: 600
+
+# ~ Koch specific settings ~
+# Sets the leader arm in torque mode with the gripper motor set to this angle. This makes it possible
+# to squeeze the gripper and have it spring back to an open position on its own.
+gripper_open_degree: 35.156

teleoperate.sh

@@ -0,0 +1,4 @@
+#/bin/bash
+
+python lerobot/scripts/control_robot.py teleoperate --robot-path lerobot/configs/robot/koch_bimanual_jack.yaml --robot-overrides '~cameras' --fps 30
+# python lerobot/scripts/control_robot.py teleoperate --robot-path lerobot/configs/robot/koch_jack.yaml --robot-overrides '~cameras' --fps 30