88 lines
2.8 KiB
Python
88 lines
2.8 KiB
Python
# 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, field
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from lerobot.common.cameras.configs import CameraConfig, Cv2Rotation
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from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
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from ..config import RobotConfig
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@RobotConfig.register_subclass("lekiwi")
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@dataclass
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class LeKiwiConfig(RobotConfig):
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port = "/dev/ttyACM0" # port to connect to the bus
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disable_torque_on_disconnect: bool = True
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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: dict[str, CameraConfig] = field(
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default_factory=lambda: {
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"front": OpenCVCameraConfig(index_or_path="/dev/video0", fps=30, width=640, height=480),
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"wrist": OpenCVCameraConfig(
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index_or_path="/dev/video2", fps=30, width=640, height=480, rotation=Cv2Rotation.ROTATE_180
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),
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}
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)
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@dataclass
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class LeKiwiHostConfig:
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# Network Configuration
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port_zmq_cmd: int = 5555
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port_zmq_observations: int = 5556
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# Duration of the application
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connection_time_s: int = 30
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# Watchdog: stop the robot if no command is received for over 0.5 seconds.
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watchdog_timeout_ms: int = 500
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# If robot jitters decrease the frequency and monitor cpu load with `top` in cmd
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max_loop_freq_hz: int = 30
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@RobotConfig.register_subclass("lekiwi_client")
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@dataclass
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class LeKiwiClientConfig(RobotConfig):
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# Network Configuration
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remote_ip: str
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port_zmq_cmd: int = 5555
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port_zmq_observations: int = 5556
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teleop_keys: dict[str, str] = field(
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default_factory=lambda: {
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# Movement
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"forward": "w",
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"backward": "s",
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"left": "a",
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"right": "d",
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"rotate_left": "z",
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"rotate_right": "x",
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# Speed control
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"speed_up": "r",
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"speed_down": "f",
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# quit teleop
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"quit": "q",
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}
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)
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polling_timeout_ms: int = 15
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connect_timeout_s: int = 5
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