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Pepijn
55 lines
1.8 KiB
Python
55 lines
1.8 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 dataclasses import dataclass, field
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from typing import TypeAlias
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from lerobot.cameras import CameraConfig
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from ..config import RobotConfig
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@dataclass
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class SOFollowerConfig:
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"""Base configuration class for SO Follower robots."""
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# Port to connect to the arm
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port: str
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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 dictionary that maps motor
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# names to the max_relative_target value for that motor.
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max_relative_target: float | dict[str, float] | None = None
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# cameras
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cameras: dict[str, CameraConfig] = field(default_factory=dict)
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# Set to `True` for backward compatibility with previous policies/dataset
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use_degrees: bool = True
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@RobotConfig.register_subclass("so101_follower")
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@RobotConfig.register_subclass("so100_follower")
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@dataclass
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class SOFollowerRobotConfig(RobotConfig, SOFollowerConfig):
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pass
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SO100FollowerConfig: TypeAlias = SOFollowerRobotConfig
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SO101FollowerConfig: TypeAlias = SOFollowerRobotConfig
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