lerobot/common/robot_devices/motors/configs.py

# 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.

import abc
from dataclasses import dataclass

import draccus


@dataclass
class MotorsBusConfig(draccus.ChoiceRegistry, abc.ABC):
    @property
    def type(self) -> str:
        return self.get_choice_name(self.__class__)


@MotorsBusConfig.register_subclass("dynamixel")
@dataclass
class DynamixelMotorsBusConfig(MotorsBusConfig):
    port: str
    motors: dict[str, tuple[int, str]]
    mock: bool = False


@MotorsBusConfig.register_subclass("feetech")
@dataclass
class FeetechMotorsBusConfig(MotorsBusConfig):
    port: str
    motors: dict[str, tuple[int, str]]
    mock: bool = False