| 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) |