# Configuration

## Modify Configuration Files

To make sure the system works well, you need to configure the settings of `magiclaw` on the control box. Several configuration files under the `configs/` directory need to be modified , including:

```
configs/
├── camera/
│   ├── maixcam-xxxx.yaml
│   └── ...
├── claw/
│   ├── claw_0.yaml
│   └── claw_1.yaml
├── phone/
│   ├── phone_0.yaml
│   └── phone_1.yaml
├── bilateral.yaml
├── magiclaw_0.yaml
└── magiclaw_1.yaml
```

 You can follow the example files under the `configs_example/` directory to modify your configuration.

## Camera Configuration

The configuration files of cameras are under `configs/camera/`, and mainly contain the host address, the size of image, the intrinsic parameters, the size of marker, etc.

```yaml
mode: web
host: "xx.xx.xx.xx"
width: 320
height: 240
dist:
  - - -0.176026
    - 0.138516
    - 0.000000
    - 0.000000
    - -0.156883
mtx:
  - - 183.481081
    - 0.000000
    - 150.391482
  - - 0.000000
    - 183.275631
    - 126.520417
  - - 0.000000
    - 0.000000
    - 1.000000
marker_size: 0.009
filter_on: True
filter_frame: 5
marker2global_tvec:
  - - 0.0
    - 0.0
    - -25.0
marker2global_rmat:
  - - - 1.0
      - 0.0
      - 0.0
    - - 0.0
      - -1.0
      - 0.0
    - - 0.0
      - 0.0
      - -1.0
```

* Host address: 
* Size of image:
* Intrinsic parameters:
* Size of marker:

## Claw Configuration

The configuration files of claws are under `configs/claw/`, and mainly contain the motor parameters, the value of the lead, and the radius of the gear, etc.

```yaml
motor:
  Kp_b: 5.0e-4
  Kp_s: 5.0e-5
  Kd_b: 7.0e-4
  Kd_s: 1.0e-4
  angle_range: 330
  bus_channel: can0
  bus_interface: socketcan
  iq_max: 10
  motor_id: 1
lead: 15.0
gear_radius: 15.0
```

* Motor parameters:
* Value of lead:
* Radius of gear:

## Phone Configuration

The configuration files of phones are under `configs/phone/`, and mainly contain the host address, the size of color image, the size of depth image, etc.

```yaml
phone_host: "xx.xx.xx.xx"

color_img:
  width: 640
  height: 480

depth_img:
  width: 256
  height: 192

init_pose:
  - 0.0
  - 0.0
  - 0.0
  - -0.028827
  - 0.964070
  - 0.211908
  - 0.305085
```

* Host address:
* Size of color image:
* Size of depth image:

## Bilateral Control Configuration

The configuration file of bilateral control is used for teleoperation, and contains the host address, and the mode.

```yaml
host: "xx.xx.xx.xx"
mode: "leader"
```

* Host address:
* Mode:

## MagiClaw Configuration

The configuration files of MagiClaws contain the path of all device configuration files, and also of the `FingerNet` model.

```yaml
claw: configs/claw/claw_0.yaml
phone: configs/phone/phone_0.yaml
camera_0: configs/camera/maixcam-xxxx.yaml
camera_1: configs/camera/maixcam-xxxx.yaml
fingernet: models/FingerNet_surf.onnx
```


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