39 lines
1.7 KiB
Python
39 lines
1.7 KiB
Python
#!/usr/bin/env python
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# 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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from typing import cast
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from lerobot.utils.import_utils import make_device_from_device_class
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from lerobot.cameras.utils import make_cameras_from_configs as lerobot_make_cameras_from_configs
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from lerobot.cameras.camera import Camera
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from lerobot.cameras.configs import CameraConfig
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def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[str, Camera]:
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lerobot_camera_configs = {key: cfg for key, cfg in camera_configs.items() if not cfg.type.startswith("uf::")}
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uf_camera_configs = {key: cfg for key, cfg in camera_configs.items() if cfg.type.startswith("uf::")}
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cameras = lerobot_make_cameras_from_configs(lerobot_camera_configs)
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for key, cfg in uf_camera_configs.items():
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if cfg.type == "uf::umi_camera":
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from .umi_camera import UmiCamera
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cameras[key] = UmiCamera(cfg)
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else:
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try:
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cameras[key] = cast(Camera, make_device_from_device_class(cfg))
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except Exception as e:
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raise ValueError(f"Error creating camera with config {cfg}: {e}") from e
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return cameras
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