1a343c3591
Co-authored-by: Remi <remi.cadene@huggingface.co> Co-authored-by: Remi Cadene <re.cadene@gmail.com>
21 lines
662 B
Python
21 lines
662 B
Python
from typing import Protocol
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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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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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