mirror of
https://github.com/huggingface/lerobot.git
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Steven Palma
679faeaafc
* fix(scripts): register third-party plugins in setup-motors * test(setup-motors): cover plugin registration --------- Co-authored-by: Janos von Gencsy <janos.von-gencsy@tum.de>
89 lines
2.2 KiB
Python
89 lines
2.2 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""
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Helper to set motor ids and baudrate.
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Example:
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```shell
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lerobot-setup-motors \
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--teleop.type=so100_leader \
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--teleop.port=/dev/tty.usbmodem575E0031751
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```
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"""
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from dataclasses import dataclass
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import draccus
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from lerobot.robots import ( # noqa: F401
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RobotConfig,
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bi_rebot_b601_follower,
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bi_so_follower,
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koch_follower,
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lekiwi,
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make_robot_from_config,
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omx_follower,
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rebot_b601_follower,
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so_follower,
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)
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from lerobot.teleoperators import ( # noqa: F401
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TeleoperatorConfig,
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bi_openarm_mini,
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bi_rebot_102_leader,
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bi_so_leader,
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koch_leader,
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make_teleoperator_from_config,
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omx_leader,
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openarm_mini,
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rebot_102_leader,
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so_leader,
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)
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from lerobot.utils.import_utils import register_third_party_plugins
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@dataclass
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class SetupConfig:
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teleop: TeleoperatorConfig | None = None
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robot: RobotConfig | None = None
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def __post_init__(self):
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if bool(self.teleop) == bool(self.robot):
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raise ValueError("Choose either a teleop or a robot.")
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self.device = self.robot if self.robot else self.teleop
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@draccus.wrap()
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def setup_motors(cfg: SetupConfig):
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if isinstance(cfg.device, RobotConfig):
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device = make_robot_from_config(cfg.device)
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else:
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device = make_teleoperator_from_config(cfg.device)
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setup = getattr(device, "setup_motors", None)
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if not callable(setup):
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raise NotImplementedError(f"Device type '{cfg.device.type}' does not support motor setup.")
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setup()
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def main():
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register_third_party_plugins()
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setup_motors()
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if __name__ == "__main__":
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main()
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