37 lines
1.3 KiB
Python
37 lines
1.3 KiB
Python
|
from dataclasses import dataclass, field
|
||
|
|
|
||
|
|
from lerobot.common.cameras.configs import CameraConfig
|
||
|
|
from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
|
||
|
|
from lerobot.common.motors.configs import FeetechMotorsBusConfig, MotorsBusConfig
|
||
|
|
from lerobot.common.robots.config import RobotConfig
|
||
|
|
|
||
|
|
|
||
|
|
@RobotConfig.register_subclass("daemon_lekiwi")
|
||
|
|
@dataclass
|
||
|
|
class DaemonLeKiwiRobotConfig(RobotConfig):
|
||
|
|
# `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 list that is the same length as
|
||
|
|
# the number of motors in your follower arms.
|
||
|
|
max_relative_target: int | None = None
|
||
|
|
|
||
|
|
# Network Configuration
|
||
|
|
remote_ip: str = "192.168.0.193"
|
||
|
|
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",
|
||
|
|
}
|
||
|
|
)
|