36 lines
1.0 KiB
Python
36 lines
1.0 KiB
Python
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 == "so101_leader":
|
|
from .so101_leader import SO101Leader
|
|
|
|
return SO101Leader(config)
|
|
elif config.type == "stretch3":
|
|
from .stretch3_gamepad import Stretch3GamePad
|
|
|
|
return Stretch3GamePad(config)
|
|
elif config.type == "widowx":
|
|
from .widowx import WidowX
|
|
|
|
return WidowX(config)
|
|
elif config.type == "mock_teleop":
|
|
from tests.mocks.mock_teleop import MockTeleop
|
|
|
|
return MockTeleop(config)
|
|
else:
|
|
raise ValueError(config.type)
|