Move get_available_arms has_method

huggingface · Oct 10, 2024 · d297d48 · d297d48
1 parent 5e6ba38
commit d297d48
Showing 1 changed file with 16 additions and 16 deletions.
diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py
@@ -240,6 +240,22 @@ def is_headless():
         return True
 
 
+def has_method(_object: object, method_name: str):
+    return hasattr(_object, method_name) and callable(getattr(_object, method_name))
+
+
+def get_available_arms(robot):
+    # TODO(rcadene): moves this function in manipulator class?
+    available_arms = []
+    for name in robot.follower_arms:
+        arm_id = get_arm_id(name, "follower")
+        available_arms.append(arm_id)
+    for name in robot.leader_arms:
+        arm_id = get_arm_id(name, "leader")
+        available_arms.append(arm_id)
+    return available_arms
+
+
 ########################################################################################
 # Asynchrounous saving of images on disk
 ########################################################################################
@@ -365,22 +381,6 @@ def stop_image_writer(image_writer, timeout):
         stop_processes(processes_pool, image_queue, timeout=timeout)
 
 
-def has_method(_object: object, method_name: str):
-    return hasattr(_object, method_name) and callable(getattr(_object, method_name))
-
-
-def get_available_arms(robot):
-    # TODO(rcadene): moves this function in manipulator class?
-    available_arms = []
-    for name in robot.follower_arms:
-        arm_id = get_arm_id(name, "follower")
-        available_arms.append(arm_id)
-    for name in robot.leader_arms:
-        arm_id = get_arm_id(name, "leader")
-        available_arms.append(arm_id)
-    return available_arms
-
-
 ########################################################################################
 # Control modes
 ########################################################################################