【开源项目】ALOHA 2双手远程操作手臂-准备工作：Aloha夹具模式配置文件修改

下载原始aloha 包可能会有报错提醒：

可以通过以下方案进行解决：

找到aloha文件夹下的config文件夹下的4个配置文件，文件名称分别为

master_modes_left.yaml、

master_modes_right.yaml、

puppet_modes_left.yaml、

puppet_modes_right.yaml

按照下图进行修改:

port: /dev/ttyDXL_master_left
 
groups:
  arm:
    torque_enable: false
    profile_type: time
 
singles:
  gripper:
    torque_enable: false
    operating_mode: pwm

port: /dev/ttyDXL_master_right
 
groups:
  arm:
    torque_enable: false
    profile_type: time
 
singles:
  gripper:
    torque_enable: false
    operating_mode: pwm

port: /dev/ttyDXL_puppet_left
 
groups:
  arm:
    operating_mode: position
    profile_type: time
    profile_velocity: 0
    profile_acceleration: 0
    torque_enable: true
 
singles:
  gripper:
    operating_mode: pwm
    profile_type: time
    profile_velocity: 0
    profile_acceleration: 0
    torque_enable: true

port: /dev/ttyDXL_puppet_right
 
groups:
  arm:
    operating_mode: position
    profile_type: time
    profile_velocity: 0
    profile_acceleration: 0
    torque_enable: true
 
singles:
  gripper:
    operating_mode: pwm
    profile_type: time
    profile_velocity: 0
    profile_acceleration: 0
    torque_enable: true