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975dcad918
* add OpenArm Mini config and module init * add OpenArm Mini teleoperator implementation * add OpenArm Mini into factory and setup motors --------- Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
107 lines
3.5 KiB
Python
107 lines
3.5 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 enum import Enum
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from typing import TYPE_CHECKING, cast
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from lerobot.utils.import_utils import make_device_from_device_class
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from .config import TeleoperatorConfig
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if TYPE_CHECKING:
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from .teleoperator import Teleoperator
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class TeleopEvents(Enum):
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"""Shared constants for teleoperator events across teleoperators."""
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SUCCESS = "success"
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FAILURE = "failure"
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RERECORD_EPISODE = "rerecord_episode"
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IS_INTERVENTION = "is_intervention"
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TERMINATE_EPISODE = "terminate_episode"
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def make_teleoperator_from_config(config: TeleoperatorConfig) -> "Teleoperator":
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# TODO(Steven): Consider just using the make_device_from_device_class for all types
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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 == "omx_leader":
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from .omx_leader import OmxLeader
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return OmxLeader(config)
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elif config.type == "so100_leader":
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from .so_leader import SO100Leader
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return SO100Leader(config)
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elif config.type == "so101_leader":
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from .so_leader import SO101Leader
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return SO101Leader(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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elif config.type == "keyboard_ee":
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from .keyboard.teleop_keyboard import KeyboardEndEffectorTeleop
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return KeyboardEndEffectorTeleop(config)
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elif config.type == "homunculus_glove":
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from .homunculus import HomunculusGlove
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return HomunculusGlove(config)
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elif config.type == "homunculus_arm":
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from .homunculus import HomunculusArm
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return HomunculusArm(config)
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elif config.type == "unitree_g1":
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from .unitree_g1 import UnitreeG1Teleoperator
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return UnitreeG1Teleoperator(config)
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elif config.type == "bi_so_leader":
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from .bi_so_leader import BiSOLeader
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return BiSOLeader(config)
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elif config.type == "reachy2_teleoperator":
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from .reachy2_teleoperator import Reachy2Teleoperator
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return Reachy2Teleoperator(config)
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elif config.type == "openarm_leader":
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from .openarm_leader import OpenArmLeader
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return OpenArmLeader(config)
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elif config.type == "bi_openarm_leader":
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from .bi_openarm_leader import BiOpenArmLeader
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return BiOpenArmLeader(config)
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elif config.type == "openarm_mini":
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from .openarm_mini import OpenArmMini
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return OpenArmMini(config)
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else:
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try:
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return cast("Teleoperator", make_device_from_device_class(config))
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except Exception as e:
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raise ValueError(f"Error creating robot with config {config}: {e}") from e
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