# 注册自定义适配器（作为开发者）
#### 实现 IRobotHardwareAdapter
```
from dataclasses import dataclass
from typing import Any, Mapping
from r2c_sdk.core.interfaces import IRobotHardwareAdapter
@dataclass
class MyRobotHardwareAdapter(IRobotHardwareAdapter):
    config: Mapping[str, Any]
    def __post_init__(self) -> None:
        from my_robot_commands import MyRobotHomeCommand
        self.register_command_class("go_home", MyRobotHomeCommand)
    def connect(self) -> None:
        """初始化硬件连接。幂等。"""
        ...
    def disconnect(self) -> None:
        """释放硬件资源。"""
        ...
    def get_observation(self) -> Mapping[str, Any]:
        """返回最新原始观测数据。"""
        ...
    def send_action(self, command: Mapping[str, Any]) -> None:
        """下发控制指令到硬件。"""
        ...
```
#### 创建工厂函数
```
def create_my_robot_adapter(
    config: Mapping[str, Any], **extra_kwargs: Any
) -> IRobotHardwareAdapter:
    """Entry_point 工厂。"""
    return MyRobotHardwareAdapter(config=dict(config))
```
#### 声明entry_point
```
# pyproject.toml
[project]
name = "my-robot-r2c-adapter"
version = "0.1.0"
requires-python = ">=3.12"
dependencies = ["hw-r2c-sdk"]
[build-system]
requires = ["setuptools"]
build-backend = "setuptools.build_meta"
[tool.setuptools]
py-modules = ["my_robot_adapter", "my_robot_commands"]
[project.entry-points."r2c_sdk.adapters"]
my_robot = "my_robot_adapter:create_my_robot_adapter"
```
#### 包结构
```
my-robot-r2c-adapter/
├── pyproject.toml
├── my_robot_adapter.py      # 工厂函数 + Adapter 类
└── my_robot_commands.py     # 自定义 AdapterCommand 子类
```
#### 实现自定义命令
```
from r2c_sdk.robots.commands.base import AdapterCommand
class MyRobotHomeCommand(AdapterCommand):
    requires_pause = True   # 是否需要在暂停态执行
    def execute(self, **kwargs):
        target = self.config.get("joints")
        if target is not None:
            self.adapter.send_action({"joint_target": list(target)})
```
#### 发布流程
1. 实现适配器和命令。
2. 编写pyproject.toml，声明entry_point。
3. pip install build \&\& python -m build构建。
4. 发布到PyPI或内网pip源。
5. 用户pip install my-robot-r2c-adapter后即可使用。
 
#### 相关文档
请在本地R2C SDK的文件夹的**examples/third_party_adapter/**获取完整示例。