mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-21 11:39:50 +00:00
Justin Huang
d74494d92b
* Remove unused max_relative_target for stretch3 * Fix type annotation and allow integer max_relative_target values * Configure max_relative_target to be floats instead of ints * Update docs and types to reflect that max_relative_target can be a dict * Remove unnecessary isinstance check for ints * Fix typo in name --------- Co-authored-by: Justin Huang <justin.huang@jpl.nasa.gov>
97 lines
3.1 KiB
Python
97 lines
3.1 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
from dataclasses import dataclass, field
|
|
|
|
from lerobot.cameras.configs import CameraConfig, Cv2Rotation
|
|
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
|
|
|
|
from ..config import RobotConfig
|
|
|
|
|
|
def lekiwi_cameras_config() -> dict[str, CameraConfig]:
|
|
return {
|
|
"front": OpenCVCameraConfig(
|
|
index_or_path="/dev/video0", fps=30, width=640, height=480, rotation=Cv2Rotation.ROTATE_180
|
|
),
|
|
"wrist": OpenCVCameraConfig(
|
|
index_or_path="/dev/video2", fps=30, width=480, height=640, rotation=Cv2Rotation.ROTATE_90
|
|
),
|
|
}
|
|
|
|
|
|
@RobotConfig.register_subclass("lekiwi")
|
|
@dataclass
|
|
class LeKiwiConfig(RobotConfig):
|
|
port: str = "/dev/ttyACM0" # port to connect to the bus
|
|
|
|
disable_torque_on_disconnect: bool = True
|
|
|
|
# `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 dictionary that maps motor
|
|
# names to the max_relative_target value for that motor.
|
|
max_relative_target: float | dict[str, float] | None = None
|
|
|
|
cameras: dict[str, CameraConfig] = field(default_factory=lekiwi_cameras_config)
|
|
|
|
# Set to `True` for backward compatibility with previous policies/dataset
|
|
use_degrees: bool = False
|
|
|
|
|
|
@dataclass
|
|
class LeKiwiHostConfig:
|
|
# Network Configuration
|
|
port_zmq_cmd: int = 5555
|
|
port_zmq_observations: int = 5556
|
|
|
|
# Duration of the application
|
|
connection_time_s: int = 30
|
|
|
|
# Watchdog: stop the robot if no command is received for over 0.5 seconds.
|
|
watchdog_timeout_ms: int = 500
|
|
|
|
# If robot jitters decrease the frequency and monitor cpu load with `top` in cmd
|
|
max_loop_freq_hz: int = 30
|
|
|
|
|
|
@RobotConfig.register_subclass("lekiwi_client")
|
|
@dataclass
|
|
class LeKiwiClientConfig(RobotConfig):
|
|
# Network Configuration
|
|
remote_ip: str
|
|
port_zmq_cmd: int = 5555
|
|
port_zmq_observations: int = 5556
|
|
|
|
teleop_keys: dict[str, str] = field(
|
|
default_factory=lambda: {
|
|
# Movement
|
|
"forward": "w",
|
|
"backward": "s",
|
|
"left": "a",
|
|
"right": "d",
|
|
"rotate_left": "z",
|
|
"rotate_right": "x",
|
|
# Speed control
|
|
"speed_up": "r",
|
|
"speed_down": "f",
|
|
# quit teleop
|
|
"quit": "q",
|
|
}
|
|
)
|
|
|
|
cameras: dict[str, CameraConfig] = field(default_factory=lekiwi_cameras_config)
|
|
|
|
polling_timeout_ms: int = 15
|
|
connect_timeout_s: int = 5
|