File size: 2,999 Bytes
f4a62da |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 |
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from enum import Enum
from typing import cast
from lerobot.utils.import_utils import make_device_from_device_class
from .config import TeleoperatorConfig
from .teleoperator import Teleoperator
class TeleopEvents(Enum):
"""Shared constants for teleoperator events across teleoperators."""
SUCCESS = "success"
FAILURE = "failure"
RERECORD_EPISODE = "rerecord_episode"
IS_INTERVENTION = "is_intervention"
TERMINATE_EPISODE = "terminate_episode"
def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
# TODO(Steven): Consider just using the make_device_from_device_class for all types
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 == "mock_teleop":
from tests.mocks.mock_teleop import MockTeleop
return MockTeleop(config)
elif config.type == "gamepad":
from .gamepad.teleop_gamepad import GamepadTeleop
return GamepadTeleop(config)
elif config.type == "keyboard_ee":
from .keyboard.teleop_keyboard import KeyboardEndEffectorTeleop
return KeyboardEndEffectorTeleop(config)
elif config.type == "homunculus_glove":
from .homunculus import HomunculusGlove
return HomunculusGlove(config)
elif config.type == "homunculus_arm":
from .homunculus import HomunculusArm
return HomunculusArm(config)
elif config.type == "bi_so100_leader":
from .bi_so100_leader import BiSO100Leader
return BiSO100Leader(config)
elif config.type == "reachy2_teleoperator":
from .reachy2_teleoperator import Reachy2Teleoperator
return Reachy2Teleoperator(config)
else:
try:
return cast(Teleoperator, make_device_from_device_class(config))
except Exception as e:
raise ValueError(f"Error creating robot with config {config}: {e}") from e
|