forked from tangger/lerobot
59 lines
2.0 KiB
Python
59 lines
2.0 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
from dataclasses import dataclass, field
|
|
|
|
from lerobot.common.cameras import CameraConfig
|
|
from lerobot.common.cameras.intel import RealSenseCameraConfig
|
|
from lerobot.common.cameras.opencv import OpenCVCameraConfig
|
|
|
|
from ..config import RobotConfig
|
|
|
|
|
|
@RobotConfig.register_subclass("stretch3")
|
|
@dataclass
|
|
class Stretch3RobotConfig(RobotConfig):
|
|
# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
|
|
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
|
|
# the number of motors in your follower arms.
|
|
max_relative_target: int | None = None
|
|
|
|
# cameras
|
|
cameras: dict[str, CameraConfig] = field(
|
|
default_factory=lambda: {
|
|
"navigation": OpenCVCameraConfig(
|
|
index_or_path="/dev/hello-nav-head-camera",
|
|
fps=10,
|
|
width=1280,
|
|
height=720,
|
|
rotation=-90,
|
|
),
|
|
"head": RealSenseCameraConfig(
|
|
name="Intel RealSense D435I",
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
rotation=90,
|
|
),
|
|
"wrist": RealSenseCameraConfig(
|
|
name="Intel RealSense D405",
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
}
|
|
)
|
|
|
|
mock: bool = False
|