44 lines
1.3 KiB
Python
44 lines
1.3 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.common.robots.config import RobotConfig
|
|
|
|
|
|
@RobotConfig.register_subclass("daemon_lekiwi")
|
|
@dataclass
|
|
class DaemonLeKiwiRobotConfig(RobotConfig):
|
|
# Network Configuration
|
|
remote_ip: str = "172.18.133.90"
|
|
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",
|
|
}
|
|
)
|