rfx.drivers
Register and discover robot drivers via entry_points or explicit registration. Provides a unified interface for connecting to different robot platforms.
from rfx.drivers import register_driver, get_driver, list_drivers
# Register a custom driver
class MyRobotDriver:
def connect(self, **kwargs):
pass
def disconnect(self):
pass
def is_connected(self) -> bool:
return True
def read_state(self) -> dict:
return {"joint_positions": [0.0] * 6}
def send_command(self, command: dict) -> None:
pass
@property
def name(self) -> str:
return "my_robot"
@property
def num_joints(self) -> int:
return 6
register_driver("my_robot", MyRobotDriver)
# Get and use the driver
driver_cls = get_driver("my_robot")
driver = driver_cls()
driver.connect()
state = driver.read_state()
RobotDriver Protocol
Protocol that all robot drivers must implement.
Methods
connect
driver.connect(**kwargs: Any) -> None
Driver-specific connection parameters (e.g., IP address, serial port).
disconnect
driver.disconnect() -> None
is_connected
driver.is_connected() -> bool
True if connected, False otherwise.
read_state
driver.read_state() -> dict[str, Any]
Dictionary containing robot state (e.g., joint positions, velocities, forces).
send_command
driver.send_command(command: dict[str, Any]) -> None
Command dictionary (structure is driver-specific).
Properties
Human-readable name of the robot.
Number of actuated joints on the robot.
register_driver
Register a driver factory by name.
from rfx.drivers import register_driver
register_driver("go2", Go2Driver)
register_driver("so_arm100", SO101Driver)
Function Signature
register_driver(
name: str,
factory: type
) -> None
Unique name for the driver.
Driver class that implements the RobotDriver protocol.
get_driver
Get a registered driver factory by name.
from rfx.drivers import get_driver
driver_cls = get_driver("go2")
if driver_cls:
driver = driver_cls()
driver.connect(ip="192.168.1.100")
Function Signature
get_driver(name: str) -> type | None
Name of the driver to retrieve.
Driver class if found, None otherwise.
list_drivers
List all registered driver names.
from rfx.drivers import list_drivers
available = list_drivers()
print(f"Available drivers: {available}")
# Available drivers: ['go2', 'so_arm100', 'my_robot']
Function Signature
list_drivers() -> list[str]
Sorted list of all registered driver names.
Auto-Discovery
Drivers can be automatically discovered via Python entry points. To make your driver discoverable, add this to your pyproject.toml:
[project.entry-points."rfx.drivers"]
my_robot = "my_package.drivers:MyRobotDriver"
setup.py:
setup(
name="my-robot-driver",
entry_points={
"rfx.drivers": [
"my_robot = my_package.drivers:MyRobotDriver",
],
},
)
rfx.drivers is imported.
