3c0a209f9f
Co-authored-by: Remi <remi.cadene@huggingface.co> Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
66 lines
2.0 KiB
Python
66 lines
2.0 KiB
Python
from typing import Protocol
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from lerobot.common.robot_devices.robots.configs import (
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AlohaRobotConfig,
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KochBimanualRobotConfig,
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KochRobotConfig,
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ManipulatorRobotConfig,
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MossRobotConfig,
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RobotConfig,
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So100RobotConfig,
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StretchRobotConfig,
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)
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def get_arm_id(name, arm_type):
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"""Returns the string identifier of a robot arm. For instance, for a bimanual manipulator
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like Aloha, it could be left_follower, right_follower, left_leader, or right_leader.
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"""
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return f"{name}_{arm_type}"
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class Robot(Protocol):
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# TODO(rcadene, aliberts): Add unit test checking the protocol is implemented in the corresponding classes
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robot_type: str
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features: dict
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def connect(self): ...
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def run_calibration(self): ...
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def teleop_step(self, record_data=False): ...
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def capture_observation(self): ...
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def send_action(self, action): ...
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def disconnect(self): ...
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def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
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if robot_type == "aloha":
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return AlohaRobotConfig(**kwargs)
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elif robot_type == "koch":
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return KochRobotConfig(**kwargs)
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elif robot_type == "koch_bimanual":
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return KochBimanualRobotConfig(**kwargs)
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elif robot_type == "moss":
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return MossRobotConfig(**kwargs)
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elif robot_type == "so100":
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return So100RobotConfig(**kwargs)
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elif robot_type == "stretch":
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return StretchRobotConfig(**kwargs)
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else:
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raise ValueError(f"Robot type '{robot_type}' is not available.")
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def make_robot_from_config(config: RobotConfig):
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if isinstance(config, ManipulatorRobotConfig):
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from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
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return ManipulatorRobot(config)
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else:
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from lerobot.common.robot_devices.robots.stretch import StretchRobot
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return StretchRobot(config)
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def make_robot(robot_type: str, **kwargs) -> Robot:
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config = make_robot_config(robot_type, **kwargs)
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return make_robot_from_config(config)
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