d8079587a2
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> Co-authored-by: Eugene Mironov <helper2424@gmail.com> Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com> Co-authored-by: Ke Wang <superwk1017@gmail.com> Co-authored-by: Yoel Chornton <yoel.chornton@gmail.com> Co-authored-by: imstevenpmwork <steven.palma@huggingface.co> Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
64 lines
2.1 KiB
Python
64 lines
2.1 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.common.cameras import CameraConfig
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from ..config import RobotConfig
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@RobotConfig.register_subclass("so100_follower")
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@dataclass
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class SO100FollowerConfig(RobotConfig):
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# Port to connect to the arm
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port: str
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disable_torque_on_disconnect: bool = True
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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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max_relative_target: int | None = None
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# cameras
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cameras: dict[str, CameraConfig] = field(default_factory=dict)
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# Set to `True` for backward compatibility with previous policies/dataset
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use_degrees: bool = False
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@RobotConfig.register_subclass("so100_follower_end_effector")
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@dataclass
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class SO100FollowerEndEffectorConfig(SO100FollowerConfig):
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"""Configuration for the SO100FollowerEndEffector robot."""
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# Default bounds for the end-effector position (in meters)
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end_effector_bounds: dict[str, list[float]] = field(
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default_factory=lambda: {
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"min": [-1.0, -1.0, -1.0], # min x, y, z
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"max": [1.0, 1.0, 1.0], # max x, y, z
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}
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)
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max_gripper_pos: float = 50
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end_effector_step_sizes: dict[str, float] = field(
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default_factory=lambda: {
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"x": 0.02,
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"y": 0.02,
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"z": 0.02,
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}
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)
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