Add make_teleoperator_from_config

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)