31 lines
1.1 KiB
Python
31 lines
1.1 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("koch_leader")
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@dataclass
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class KochLeaderConfig(TeleoperatorConfig):
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# Port to connect to the arm
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port: str
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# Sets the arm in torque mode with the gripper motor set to this value. This makes it possible to squeeze
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# the gripper and have it spring back to an open position on its own.
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gripper_open_pos: float = 50.0
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