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41 lines
869 B
Python
41 lines
869 B
Python
from dataclasses import dataclass
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import draccus
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from .common.robots import RobotConfig, koch_follower, make_robot_from_config, so100_follower # noqa: F401
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from .common.teleoperators import ( # noqa: F401
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TeleoperatorConfig,
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koch_leader,
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make_teleoperator_from_config,
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so100_leader,
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)
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COMPATIBLE_DEVICES = [
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"koch_follower",
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"koch_leader",
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"so100_follower",
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"so100_leader",
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]
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@dataclass
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class SetupConfig:
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device: RobotConfig | TeleoperatorConfig
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@draccus.wrap()
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def setup_motors(cfg: SetupConfig):
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if cfg.device.type not in COMPATIBLE_DEVICES:
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raise NotImplementedError
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if isinstance(cfg.device, RobotConfig):
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device = make_robot_from_config(cfg.device)
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else:
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device = make_teleoperator_from_config(cfg.device)
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device.setup_motors()
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if __name__ == "__main__":
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setup_motors()
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