mirror of
https://github.com/huggingface/lerobot.git
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d74494d92b
* Remove unused max_relative_target for stretch3 * Fix type annotation and allow integer max_relative_target values * Configure max_relative_target to be floats instead of ints * Update docs and types to reflect that max_relative_target can be a dict * Remove unnecessary isinstance check for ints * Fix typo in name --------- Co-authored-by: Justin Huang <justin.huang@jpl.nasa.gov>
54 lines
1.7 KiB
Python
54 lines
1.7 KiB
Python
# 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, field
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from lerobot.cameras import CameraConfig
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from lerobot.cameras.opencv import OpenCVCameraConfig
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from lerobot.cameras.realsense import RealSenseCameraConfig
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from ..config import RobotConfig
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@RobotConfig.register_subclass("stretch3")
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@dataclass
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class Stretch3RobotConfig(RobotConfig):
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# cameras
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cameras: dict[str, CameraConfig] = field(
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default_factory=lambda: {
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"navigation": OpenCVCameraConfig(
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index_or_path="/dev/hello-nav-head-camera",
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fps=10,
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width=1280,
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height=720,
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rotation=-90,
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),
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"head": RealSenseCameraConfig(
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name="Intel RealSense D435I",
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fps=30,
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width=640,
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height=480,
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rotation=90,
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),
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"wrist": RealSenseCameraConfig(
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name="Intel RealSense D405",
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fps=30,
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width=640,
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height=480,
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),
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}
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)
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mock: bool = False
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