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