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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from typing import Protocol
from lerobot.common.robot_devices.robots.configs import (
AlohaRobotConfig,
KochBimanualRobotConfig,
KochRobotConfig,
LeKiwiRobotConfig,
ManipulatorRobotConfig,
MossRobotConfig,
RobotConfig,
So100RobotConfig,
StretchRobotConfig,
)
def get_arm_id(name, arm_type):
"""Returns the string identifier of a robot arm. For instance, for a bimanual manipulator
like Aloha, it could be left_follower, right_follower, left_leader, or right_leader.
"""
return f"{name}_{arm_type}"
class Robot(Protocol):
# TODO(rcadene, aliberts): Add unit test checking the protocol is implemented in the corresponding classes
robot_type: str
features: dict
def connect(self): ...
def run_calibration(self): ...
def teleop_step(self, record_data=False): ...
def capture_observation(self): ...
def send_action(self, action): ...
def disconnect(self): ...
def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
if robot_type == "aloha":
return AlohaRobotConfig(**kwargs)
elif robot_type == "koch":
return KochRobotConfig(**kwargs)
elif robot_type == "koch_bimanual":
return KochBimanualRobotConfig(**kwargs)
elif robot_type == "moss":
return MossRobotConfig(**kwargs)
elif robot_type == "so100":
return So100RobotConfig(**kwargs)
elif robot_type == "stretch":
return StretchRobotConfig(**kwargs)
elif robot_type == "lekiwi":
return LeKiwiRobotConfig(**kwargs)
else:
raise ValueError(f"Robot type '{robot_type}' is not available.")
def make_robot_from_config(config: RobotConfig):
if isinstance(config, ManipulatorRobotConfig):
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
return ManipulatorRobot(config)
elif isinstance(config, LeKiwiRobotConfig):
from lerobot.common.robot_devices.robots.mobile_manipulator import MobileManipulator
return MobileManipulator(config)
else:
from lerobot.common.robot_devices.robots.stretch import StretchRobot
return StretchRobot(config)
def make_robot(robot_type: str, **kwargs) -> Robot:
config = make_robot_config(robot_type, **kwargs)
return make_robot_from_config(config)
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