32 lines
924 B
Python
32 lines
924 B
Python
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 == "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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else:
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raise ValueError(config.type)
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