41 lines
1.7 KiB
Python
41 lines
1.7 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
from lerobot.teleoperators.utils import make_teleoperator_from_config as lerobot_make_teleoperator_from_config
|
|
from lerobot.teleoperators.config import TeleoperatorConfig
|
|
from lerobot.teleoperators.teleoperator import Teleoperator
|
|
|
|
|
|
def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
|
|
if config.type == "uf::gello_teleop":
|
|
from .gello_teleop import GelloTeleop
|
|
return GelloTeleop(config)
|
|
elif config.type == "uf::pika_teleop":
|
|
from .pika_teleop import PikaTeleop
|
|
return PikaTeleop(config)
|
|
elif config.type == "uf::spacemouse_teleop":
|
|
from .space_mouse import SpaceMouseTeleop
|
|
return SpaceMouseTeleop(config)
|
|
elif config.type == "uf::mock_teleop":
|
|
from .uf_mock_teleop import UFMockTeleop
|
|
return UFMockTeleop(config)
|
|
elif config.type == "uf::umi_teleop":
|
|
from .umi_teleop import UmiTeleop
|
|
return UmiTeleop(config)
|
|
elif config.type == "uf::multiple_umi_teleop":
|
|
from .umi_teleop import MultipleUmiTeleop
|
|
return MultipleUmiTeleop(config)
|
|
else:
|
|
return lerobot_make_teleoperator_from_config(config)
|