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https://github.com/huggingface/lerobot.git
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Michel Aractingi
df96e5b3b2
changed the motor bus tranformation to degrees but considering the min and max fixed the kinematics in the so100_follower_end_effector
33 lines
1.0 KiB
Python
33 lines
1.0 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 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
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from ..config import TeleoperatorConfig
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@TeleoperatorConfig.register_subclass("gamepad")
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@dataclass
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class GamepadTeleopConfig(TeleoperatorConfig):
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# TODO(Steven): Consider setting in here the keys that we want to capture/listen
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mock: bool = False
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x_step_size: float = 0.02
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y_step_size: float = 0.02
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z_step_size: float = 0.02
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use_gripper: bool = True
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