forked from tangger/lerobot
71e6520cd1
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
41 lines
1.4 KiB
Python
41 lines
1.4 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import abc
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from dataclasses import dataclass
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from pathlib import Path
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import draccus
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@dataclass(kw_only=True)
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class RobotConfig(draccus.ChoiceRegistry, abc.ABC):
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# Allows to distinguish between different robots of the same type
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id: str | None = None
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# Directory to store calibration file
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calibration_dir: Path | None = None
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def __post_init__(self):
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if hasattr(self, "cameras") and self.cameras:
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for _, config in self.cameras.items():
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for attr in ["width", "height", "fps"]:
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if getattr(config, attr) is None:
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raise ValueError(
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f"Specifying '{attr}' is required for the camera to be used in a robot"
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)
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@property
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def type(self) -> str:
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return self.get_choice_name(self.__class__)
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