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28 lines
1.4 KiB
Python
28 lines
1.4 KiB
Python
from dataclasses import dataclass, field
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from lerobot.common.cameras import CameraConfig
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from ..config import RobotConfig
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@RobotConfig.register_subclass("viperx")
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@dataclass
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class ViperXRobotConfig(RobotConfig):
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# /!\ FOR SAFETY, READ THIS /!\
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# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
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# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
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# the number of motors in your follower arms.
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# For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
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# When you feel more confident with teleoperation or running the policy, you can extend
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# this safety limit and even removing it by setting it to `null`.
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# Also, everything is expected to work safely out-of-the-box, but we highly advise to
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# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
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# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
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max_relative_target: int | None = 5
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# cameras
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cameras: dict[str, CameraConfig] = field(default_factory=dict)
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# Troubleshooting: If one of your IntelRealSense cameras freeze during
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# data recording due to bandwidth limit, you might need to plug the camera
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# on another USB hub or PCIe card.
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