41 lines
1.3 KiB
Python
41 lines
1.3 KiB
Python
from dataclasses import dataclass, field
|
|
|
|
from lerobot.common.cameras.configs import CameraConfig, IntelRealSenseCameraConfig, OpenCVCameraConfig
|
|
from lerobot.common.robots.config_abc import RobotConfig
|
|
|
|
|
|
@RobotConfig.register_subclass("stretch")
|
|
@dataclass
|
|
class StretchRobotConfig(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
|
|
|
|
cameras: dict[str, CameraConfig] = field(
|
|
default_factory=lambda: {
|
|
"navigation": OpenCVCameraConfig(
|
|
camera_index="/dev/hello-nav-head-camera",
|
|
fps=10,
|
|
width=1280,
|
|
height=720,
|
|
rotation=-90,
|
|
),
|
|
"head": IntelRealSenseCameraConfig(
|
|
name="Intel RealSense D435I",
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
rotation=90,
|
|
),
|
|
"wrist": IntelRealSenseCameraConfig(
|
|
name="Intel RealSense D405",
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
}
|
|
)
|
|
|
|
mock: bool = False
|