bi_teleoperate.sh

#!/bin/bash

# Bimanual Screwdriver Robot Teleoperation
# Left arm: Screwdriver follower + leader
# Right arm: Regular Koch follower + leader

python -m assembler0.scripts.bi_teleoperate \
    --left_robot_port=/dev/servo_5837053138 \
    --right_robot_port=/dev/ttyACM3 \
    --robot_id=bi_koch_screwdriver_follower_testing \
    --left_robot_id=koch_screwdriver_follower_testing \
    --right_robot_id=koch_magnetic_follower_testing \
    --left_leader_port=/dev/servo_585A007782 \
    --right_leader_port=/dev/ttyACM2 \
    --leader_id=bi_koch_screwdriver_leader_testing \
    --left_leader_id=koch_screwdriver_leader_testing \
    --right_leader_id=koch_magnetic_leader_testing \
    --screwdriver_camera=/dev/video0 \
    --side_camera=/dev/video2 \
    --top_camera=/dev/video6 \
    --camera_width=800 \
    --camera_height=600 \
    --camera_fps=30 \
    --fps=30 \
    --left_screwdriver_current_limit=300 \
    --left_clutch_ratio=0.5 \
    --left_clutch_cooldown_s=1.0 \
    --left_gripper_open_pos=50.0 \
    --left_haptic_range=4.0 \
    --right_gripper_open_pos=50.0