forked from tangger/lerobot
50 lines
2.1 KiB
Python
50 lines
2.1 KiB
Python
#!/usr/bin/env python
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# 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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from dataclasses import dataclass
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from ..config import TeleoperatorConfig
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@TeleoperatorConfig.register_subclass("widowx")
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@dataclass
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class WidowXTeleopConfig(TeleoperatorConfig):
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port: str # Port to connect to the teloperator
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mock: bool = False
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# /!\ FOR SAFETY, READ THIS /!\
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# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
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# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
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# the number of motors in your follower arms.
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# For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
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# When you feel more confident with teleoperation or running the policy, you can extend
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# this safety limit and even removing it by setting it to `null`.
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# Also, everything is expected to work safely out-of-the-box, but we highly advise to
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# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
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# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
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max_relative_target: int | None = 5
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# motors
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waist: tuple = (1, "xm430-w350")
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shoulder: tuple = (2, "xm430-w350")
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shoulder_shadow: tuple = (3, "xm430-w350")
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elbow: tuple = (4, "xm430-w350")
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elbow_shadow: tuple = (5, "xm430-w350")
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forearm_roll: tuple = (6, "xm430-w350")
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wrist_angle: tuple = (7, "xm430-w350")
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wrist_rotate: tuple = (8, "xl430-w250")
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gripper: tuple = (9, "xc430-w150")
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