1002142102@qq.com
cc31254055
2.增加多臂多控制器模式 3.末端姿态由欧拉角控制切换到四元数控制 4.增加vr手柄控制器 Signed-off-by: 1002142102@qq.com <1002142102@qq.com>
23 lines
941 B
Python
23 lines
941 B
Python
from dataclasses import dataclass, field
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from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig
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from lerobot.motors.motors_bus import Motor, MotorCalibration
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from lerobot.robots.config import RobotConfig
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@RobotConfig.register_subclass("realman")
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@dataclass
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class RealmanRobotConfig(RobotConfig):
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# Port to connect to the arm
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port: str
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mock: bool = field(default_factory=bool)
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#0：关节角度透传模式 1:笛卡尔速度透传
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mode: int = 0
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gripper_range: list[int] = field(default_factory=list)
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disable_torque_on_disconnect: bool = True
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max_relative_target = None
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# cameras
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cameras: dict[str, RealSenseCameraConfig] = field(default_factory=dict)
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joint: list=field(default_factory=list)
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udp_ip: str|None = "127.0.0.1"
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udp_port: int = 8090
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motors: dict[str, Motor] = field(default_factory=dict)
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calibration: dict[str, MotorCalibration] | None = None |