23 lines
717 B
Python
23 lines
717 B
Python
from dataclasses import dataclass, field
|
|
|
|
from lerobot.common.cameras import CameraConfig
|
|
|
|
from ..config import RobotConfig
|
|
|
|
|
|
@RobotConfig.register_subclass("koch_follower")
|
|
@dataclass
|
|
class KochFollowerConfig(RobotConfig):
|
|
# Port to connect to the arm
|
|
port: str
|
|
|
|
disable_torque_on_disconnect: bool = True
|
|
|
|
# `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=dict)
|