68 lines
2.1 KiB
Python
68 lines
2.1 KiB
Python
from typing import Protocol
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from lerobot.common.robot_devices.motors.configs import (
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DynamixelMotorsBusConfig,
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FeetechMotorsBusConfig,
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PiperMotorsBusConfig,
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MotorsBusConfig
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)
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class MotorsBus(Protocol):
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def motor_names(self): ...
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def set_calibration(self): ...
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def apply_calibration(self): ...
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def revert_calibration(self): ...
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def read(self): ...
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def write(self): ...
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def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig]) -> list[MotorsBus]:
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motors_buses = {}
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for key, cfg in motors_bus_configs.items():
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if cfg.type == "dynamixel":
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from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
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motors_buses[key] = DynamixelMotorsBus(cfg)
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elif cfg.type == "feetech":
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from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
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motors_buses[key] = FeetechMotorsBus(cfg)
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elif cfg.type == "piper":
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from lerobot.common.robot_devices.motors.piper import PiperMotorsBus
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motors_buses[key] = PiperMotorsBus(cfg)
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else:
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raise ValueError(f"The motor type '{cfg.type}' is not valid.")
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return motors_buses
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def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
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if motor_type == "dynamixel":
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from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
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config = DynamixelMotorsBusConfig(**kwargs)
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return DynamixelMotorsBus(config)
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elif motor_type == "feetech":
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from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
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config = FeetechMotorsBusConfig(**kwargs)
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return FeetechMotorsBus(config)
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elif motor_type == "piper":
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from lerobot.common.robot_devices.motors.piper import PiperMotorsBus
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config = PiperMotorsBusConfig(**kwargs)
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return PiperMotorsBus(config)
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else:
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raise ValueError(f"The motor type '{motor_type}' is not valid.")
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def get_motor_names(arm: dict[str, MotorsBus]) -> list:
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return [f"{arm}_{motor}" for arm, bus in arm.items() for motor in bus.motors] |