mirror of
https://github.com/huggingface/lerobot.git
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Martino Russi
149628dfd5
* add gravity compensation * add g1 teleoperation --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
82 lines
1.9 KiB
Python
82 lines
1.9 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 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 enum import IntEnum
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# ruff: noqa: N801, N815
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NUM_MOTORS = 29
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class G1_29_JointArmIndex(IntEnum):
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# Left arm
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kLeftShoulderPitch = 15
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kLeftShoulderRoll = 16
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kLeftShoulderYaw = 17
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kLeftElbow = 18
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kLeftWristRoll = 19
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kLeftWristPitch = 20
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kLeftWristyaw = 21
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# Right arm
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kRightShoulderPitch = 22
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kRightShoulderRoll = 23
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kRightShoulderYaw = 24
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kRightElbow = 25
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kRightWristRoll = 26
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kRightWristPitch = 27
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kRightWristYaw = 28
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class G1_29_JointIndex(IntEnum):
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# Left leg
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kLeftHipPitch = 0
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kLeftHipRoll = 1
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kLeftHipYaw = 2
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kLeftKnee = 3
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kLeftAnklePitch = 4
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kLeftAnkleRoll = 5
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# Right leg
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kRightHipPitch = 6
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kRightHipRoll = 7
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kRightHipYaw = 8
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kRightKnee = 9
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kRightAnklePitch = 10
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kRightAnkleRoll = 11
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kWaistYaw = 12
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kWaistRoll = 13
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kWaistPitch = 14
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# Left arm
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kLeftShoulderPitch = 15
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kLeftShoulderRoll = 16
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kLeftShoulderYaw = 17
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kLeftElbow = 18
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kLeftWristRoll = 19
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kLeftWristPitch = 20
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kLeftWristyaw = 21
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# Right arm
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kRightShoulderPitch = 22
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kRightShoulderRoll = 23
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kRightShoulderYaw = 24
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kRightElbow = 25
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kRightWristRoll = 26
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kRightWristPitch = 27
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kRightWristYaw = 28
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