1f7ddc1d76
Co-authored-by: Pepijn <pepijn@huggingface.co> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
62 lines
1.6 KiB
Python
62 lines
1.6 KiB
Python
import abc
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from typing import Any
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from lerobot.common.constants import HF_LEROBOT_CALIBRATION, TELEOPERATORS
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from .config import TeleoperatorConfig
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class Teleoperator(abc.ABC):
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"""The main LeRobot class for implementing teleoperation devices."""
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# Set these in ALL subclasses
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config_class: TeleoperatorConfig
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name: str
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def __init__(self, config: TeleoperatorConfig):
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self.id = config.id
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self.calibration_dir = (
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config.calibration_dir
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if config.calibration_dir
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else HF_LEROBOT_CALIBRATION / TELEOPERATORS / self.name
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)
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self.calibration_dir.mkdir(parents=True, exist_ok=True)
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self.calibration_fpath = self.calibration_dir / f"{self.id}.json"
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@abc.abstractproperty
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def action_feature(self) -> dict:
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pass
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@abc.abstractproperty
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def feedback_feature(self) -> dict:
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pass
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@abc.abstractmethod
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def connect(self) -> None:
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"""Connects to the teleoperator."""
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pass
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@abc.abstractmethod
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def calibrate(self) -> None:
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"""Calibrates the teleoperator."""
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pass
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@abc.abstractmethod
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def get_action(self) -> dict[str, Any]:
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"""Gets the action to send to a teleoperator."""
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pass
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@abc.abstractmethod
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def send_feedback(self, feedback: dict[str, Any]) -> None:
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"""Sends feedback captured from a robot to the teleoperator."""
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pass
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@abc.abstractmethod
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def disconnect(self) -> None:
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"""Disconnects from the teleoperator."""
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pass
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def __del__(self):
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if getattr(self, "is_connected", False):
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self.disconnect()
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