05fcfca374
- created new so100followerendeffector robot that inherits from so100follower but takes eef actions and transforms them to joint positions - created teleop_gamepad device to use gamepad as a teleoperater
54 lines
1.7 KiB
Python
54 lines
1.7 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 .config import TeleoperatorConfig
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from .teleoperator import Teleoperator
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def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
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if config.type == "keyboard":
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from .keyboard import KeyboardTeleop
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return KeyboardTeleop(config)
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elif config.type == "koch_leader":
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from .koch_leader import KochLeader
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return KochLeader(config)
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elif config.type == "so100_leader":
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from .so100_leader import SO100Leader
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return SO100Leader(config)
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elif config.type == "so101_leader":
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from .so101_leader import SO101Leader
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return SO101Leader(config)
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elif config.type == "stretch3":
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from .stretch3_gamepad import Stretch3GamePad
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return Stretch3GamePad(config)
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elif config.type == "widowx":
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from .widowx import WidowX
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return WidowX(config)
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elif config.type == "mock_teleop":
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from tests.mocks.mock_teleop import MockTeleop
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return MockTeleop(config)
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elif config.type == "gamepad":
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from .gamepad.teleop_gamepad import GamepadTeleop
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return GamepadTeleop(config)
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else:
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raise ValueError(config.type)
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