90 lines
2.6 KiB
Python
90 lines
2.6 KiB
Python
import abc
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from pathlib import Path
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from typing import Any
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import draccus
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from lerobot.common.constants import HF_LEROBOT_CALIBRATION, TELEOPERATORS
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from lerobot.common.motors.motors_bus import MotorCalibration
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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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self.calibration: dict[str, MotorCalibration] = {}
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if self.calibration_fpath.is_file():
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self._load_calibration()
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def __str__(self) -> str:
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return f"{self.id} {self.__class__.__name__}"
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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.abstractproperty
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def is_connected(self) -> bool:
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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.abstractproperty
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def is_calibrated(self) -> bool:
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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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def _load_calibration(self, fpath: Path | None = None) -> None:
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fpath = self.calibration_fpath if fpath is None else fpath
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with open(fpath) as f, draccus.config_type("json"):
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self.calibration = draccus.load(dict[str, MotorCalibration], f)
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def _save_calibration(self, fpath: Path | None = None) -> None:
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fpath = self.calibration_fpath if fpath is None else fpath
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with open(fpath, "w") as f, draccus.config_type("json"):
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draccus.dump(self.calibration, f, indent=4)
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@abc.abstractmethod
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def configure(self) -> None:
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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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