From b207babd9e660bfcd94d2838bd9520532fcb1720 Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Thu, 8 May 2025 12:51:32 +0200
Subject: [PATCH] Add make_teleoperator_from_config

---
 lerobot/common/teleoperators/utils.py | 27 +++++++++++++++++++++++++++
 1 file changed, 27 insertions(+)
 create mode 100644 lerobot/common/teleoperators/utils.py

diff --git a/lerobot/common/teleoperators/utils.py b/lerobot/common/teleoperators/utils.py
new file mode 100644
index 000000000..fb9fafe53
--- /dev/null
+++ b/lerobot/common/teleoperators/utils.py
@@ -0,0 +1,27 @@
+from .config import TeleoperatorConfig
+from .teleoperator import Teleoperator
+
+
+def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
+    if config.type == "keyboard":
+        from .keyboard import KeyboardTeleop
+
+        return KeyboardTeleop(config)
+    elif config.type == "koch_leader":
+        from .koch_leader import KochLeader
+
+        return KochLeader(config)
+    elif config.type == "so100_leader":
+        from .so100_leader import SO100Leader
+
+        return SO100Leader(config)
+    elif config.type == "stretch3":
+        from .stretch3_gamepad import Stretch3GamePad
+
+        return Stretch3GamePad(config)
+    elif config.type == "widowx":
+        from .widowx import WidowX
+
+        return WidowX(config)
+    else:
+        raise ValueError(config.type)