35 lines
1.4 KiB
Python
35 lines
1.4 KiB
Python
# 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 lerobot.robots.utils import make_robot_from_config as lerobot_make_robot_from_config
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from lerobot.robots.config import RobotConfig
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from lerobot.robots.robot import Robot
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def make_robot_from_config(config: RobotConfig) -> Robot:
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if config.type == "uf::robot":
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from .uf_robot import UFRobot
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return UFRobot(config)
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elif config.type == "uf::multiple_robot":
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from .uf_robot import MultipleUFRobot
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return MultipleUFRobot(config)
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elif config.type == "uf::mock_robot":
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from .uf_mock_robot import UFMockRobot
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return UFMockRobot(config)
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elif config.type == "uf::multiple_mock_robot":
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from .uf_mock_robot import MultipleUFMockRobot
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return MultipleUFMockRobot(config)
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else:
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return lerobot_make_robot_from_config(config)
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