File size: 730 Bytes
d7b60cc | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 | from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
from lerobot.cameras.opencv import OpenCVCameraConfig
# Initialize the robot
config = DK1FollowerConfig(
right_arm_port="/dev/ttyACM0",
left_arm_port="/dev/ttyACM1",
joint_velocity_scaling=1.0,
cameras={
"base_0": OpenCVCameraConfig(index_or_path=8, width=640, height=360, fps=30),
"left_wrist": OpenCVCameraConfig(index_or_path=6, width=640, height=360, fps=30),
"right_wrist": OpenCVCameraConfig(index_or_path=4, width=640, height=360, fps=30),
}
)
robot = DK1Follower(config)
# Get an observation and print its structure
obs = robot.get_observation()
print(type(obs))
print(obs.keys())
import pprint
pprint.pprint(obs) |