Move more files & objects around

2026-07-24 18:26:11 +00:00 · 2025-02-26 18:48:58 +01:00
parent 124829104b
commit 59bdd29106
23 changed files with 658 additions and 614 deletions
@@ -0,0 +1,40 @@
+from dataclasses import dataclass, field
+
+from lerobot.common.cameras.configs import CameraConfig, IntelRealSenseCameraConfig, OpenCVCameraConfig
+from lerobot.common.robots.config_abc import RobotConfig
+
+
+@RobotConfig.register_subclass("stretch")
+@dataclass
+class StretchRobotConfig(RobotConfig):
+    # `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: dict[str, CameraConfig] = field(
+        default_factory=lambda: {
+            "navigation": OpenCVCameraConfig(
+                camera_index="/dev/hello-nav-head-camera",
+                fps=10,
+                width=1280,
+                height=720,
+                rotation=-90,
+            ),
+            "head": IntelRealSenseCameraConfig(
+                name="Intel RealSense D435I",
+                fps=30,
+                width=640,
+                height=480,
+                rotation=90,
+            ),
+            "wrist": IntelRealSenseCameraConfig(
+                name="Intel RealSense D405",
+                fps=30,
+                width=640,
+                height=480,
+            ),
+        }
+    )
+
+    mock: bool = False