j RdZddlmZmZddlmZerddlmZGddeZdS)z4Abstract base class for teleoperation input methods.)ABCabstractmethod) TYPE_CHECKING)RobotControllercPeZdZdZeedefdZeddZeddZ edd Z eedefd Z dd Z dd Z ddd ZdddefdZdddefdZdddefdZedefdZedefdZedefdZdS)TeleopInterfacezShared interface for all teleoperation input methods. To add a new input method, subclass this, implement all abstract methods, and instantiate it from the CLI or calling code. returncdS)z@Short identifier used in metadata (e.g. 'leader', 'spacemouse').Nselfs :/home/robot-lab/cameron/raiden_fork/raiden/control/base.pynamezTeleopInterface.namerobot_controllerrNcdS)zQDevice-specific setup after robots are ready (attach hardware, warm up IK, etc.).Nr r rs rsetupzTeleopInterface.setuprrcdS)zStart the control loop threads.Nr rs rstartzTeleopInterface.startrrcdS)zStop the control loop threads.Nr rs rstopzTeleopInterface.stoprrcdS)z9Status message printed when teleoperation becomes active.Nr r s rbannerzTeleopInterface.banner"rrcdS)zOpen session-level peripherals (footpedal, etc.). Called once per session before the first episode. Default: no-op. Nr r s ropenzTeleopInterface.open+rrcdS)z_Close session-level peripherals. Called once at session end. Default: no-op. Nr r s rclosezTeleopInterface.close1rrc||_dS)aNotify the interface whether a recording episode is active. When a controller is provided (episode started), footpedal left calls ``robot_controller.soft_pause()`` instead of firing a trigger event. Pass None when the episode ends. Default: no-op. N)_recording_controllerrs rset_active_recordingz$TeleopInterface.set_active_recording7s&6"""rcdS)zReturn True on a trigger event (button press, footpedal left, etc.). Used as: start/stop recording in recorder, record-pose in calibration. Default: never triggers. Fr rs rpollzTeleopInterface.poll@s urcdS)zGReturn True if the user signalled a success outcome (footpedal middle).Fr rs r poll_successzTeleopInterface.poll_successHurcdS)zWReturn True if the user signalled a failure outcome (footpedal right / failure button).Fr rs r poll_failurezTeleopInterface.poll_failureLr'rcdS)z9True if this mode requires leader arms to be initialised.Fr r s r uses_leaderszTeleopInterface.uses_leadersPs urc|jS)zTrue if recording should start on a leader-arm button press. False means keyboard / Enter key is used instead. r+r s rwaits_for_button_startz&TeleopInterface.waits_for_button_startUs   rc|jS)z?True if leader-arm buttons can be used to mark success/failure.r-r s rsupports_verdict_buttonz'TeleopInterface.supports_verdict_button]s   r)rrr N)r N)N)__name__ __module__ __qualname____doc__propertyrstrrrrrrrrr"boolr$r&r)r+r.r0r rrrr s  OcOOO^XO```^`...^.---^-HHHH^XH        66666%64->4->4dX!!!!X!!!!!X!!!rrN) r4abcrrtypingrraiden.robot.controllerrrr rrr;s::######## 8777777V!V!V!V!V!cV!V!V!V!V!r