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https://github.com/huggingface/lerobot.git
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Simon Alibert
31 lines
952 B
Python
31 lines
952 B
Python
from dataclasses import dataclass, field
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from lerobot.common.cameras import CameraConfig
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from ..config import RobotConfig
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@RobotConfig.register_subclass("koch")
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@dataclass
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class KochRobotConfig(RobotConfig):
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# Port to connect to the robot
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port: str
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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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mock: bool = False
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# motors
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shoulder_pan: tuple = (1, "xl430-w250")
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shoulder_lift: tuple = (2, "xl430-w250")
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elbow_flex: tuple = (3, "xl330-m288")
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wrist_flex: tuple = (4, "xl330-m288")
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wrist_roll: tuple = (5, "xl330-m288")
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gripper: tuple = (6, "xl330-m288")
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# cameras
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cameras: dict[str, CameraConfig] = field(default_factory=dict)
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