46 lines
1.8 KiB
Python
46 lines
1.8 KiB
Python
from dataclasses import dataclass, field
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from typing import Tuple
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from lerobot.cameras import CameraConfig
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from lerobot.cameras.realsense import RealSenseCameraConfig
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from lerobot.robots import RobotConfig
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@RobotConfig.register_subclass("uf::robot")
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@dataclass
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class UFRobotConfig(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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"overhead": RealSenseCameraConfig(
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serial_number_or_name="Intel RealSense D435I",
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fps=30,
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width=640, # 1280
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height=480, # 720
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# rotation=90,
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),
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"tool": RealSenseCameraConfig(
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serial_number_or_name="Intel RealSense D435",
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fps=30,
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width=640, # 1280
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height=480, # 720
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),
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}
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)
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robot_ip: str = "192.168.1.127"
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robot_dof: int | None = None # Set it correctly if controlling in joint space!
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control_space: str = "joint"
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gripper_type: int = 1 # 1: xArm Gripper, 2: xArm Gripper G2, 10: Pika Gripper, 11: Robotiq 2F-85
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gripper_port: str = None # only used by pika gripper (gripper_type=10)
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gripper_speed: int = -1 # auto
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gripper_force: int = -1 # auto
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observe_joint_vel: bool = False # only effective in joint control mode
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start_joints: Tuple[float, ...] = (0, 0, 0, 90, 0, 90, 0) # °
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start_tcp_pose: Tuple[float, ...] = None # [x, y, z, roll(°), pitch(°), yaw(°)]
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max_joint_velocity: int = 90 # °/s, only effective in joint control mode
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max_linear_velocity: int = 200 # mm/s, only effective in cartesian control mode
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no_action: bool = False # only for debug
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def __post_init__(self):
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super().__post_init__()
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self.id = 'uf_robot' if self.id is None else self.id
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