45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
from dataclasses import dataclass, field
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from lerobot.common.cameras import CameraConfig
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from lerobot.common.cameras.intel import RealSenseCameraConfig
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from lerobot.common.cameras.opencv import OpenCVCameraConfig
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from ..config import RobotConfig
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@RobotConfig.register_subclass("stretch3")
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@dataclass
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class Stretch3RobotConfig(RobotConfig):
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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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max_relative_target: int | None = None
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# cameras
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cameras: dict[str, CameraConfig] = field(
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default_factory=lambda: {
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"navigation": OpenCVCameraConfig(
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index_or_path="/dev/hello-nav-head-camera",
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fps=10,
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width=1280,
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height=720,
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rotation=-90,
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),
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"head": RealSenseCameraConfig(
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name="Intel RealSense D435I",
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fps=30,
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width=640,
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height=480,
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rotation=90,
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),
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"wrist": RealSenseCameraConfig(
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name="Intel RealSense D405",
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fps=30,
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width=640,
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height=480,
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),
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}
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)
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mock: bool = False
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