die-roboter
Version:
A TypeScript library for robot simulation and control with Three.js
62 lines (61 loc) • 1.94 kB
JavaScript
;
Object.defineProperty(exports, "__esModule", { value: true });
exports.SO101 = void 0;
const Robot_1 = require("./Robot");
/**
* SO101 Robot Implementation
* The first robot in the Die Roboter series
*
* taken from here : https://github.com/huggingface/lerobot/blob/945e1ff2669bb7b31cb7fe6033fe9679767c2442/src/lerobot/teleoperators/so100_leader/so100_leader.py#L47
*/
class SO101 extends Robot_1.Robot {
constructor() {
// Define the unmapped pivot map for SO101 robot with names from the UI and -100 to 100 range
const unmappedPivotMap = {
'shoulder_pan': {
name: 'shoulder_pan',
jointName: 'Rotation',
value: 0,
lower: -100,
upper: 100
},
'shoulder_lift': {
name: 'shoulder_lift',
jointName: 'Pitch',
value: 0,
lower: -100,
upper: 100
},
'elbow_flex': {
name: 'elbow_flex',
jointName: 'Elbow',
value: 0,
lower: -100,
upper: 100
},
'wrist_flex': {
name: 'wrist_flex',
jointName: 'Wrist_Pitch',
value: 0,
lower: -100,
upper: 100
},
'wrist_roll': {
name: 'wrist_roll',
jointName: 'Wrist_Roll',
value: 0,
lower: -100,
upper: 100
},
'gripper': {
name: 'gripper',
jointName: 'Jaw',
value: 50,
lower: 0,
upper: 100
}
};
super("SO101", "https://cdn.jsdelivr.net/gh/therealadityashankar/die-roboter/urdf/so101.urdf", unmappedPivotMap);
}
}
exports.SO101 = SO101;