mirror of
https://github.com/huggingface/lerobot.git
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6a3d57031a
* Start adding Reachy 2 (no camera) * Fix joint shape * Remove print * Modify observation_features * Fix observation state * Try adding a fake Reachy teleoperator * Saving test scripts * Add reachy2camera to cameras * Add teleop_left camera to observation * Create test_reachy2_camera.py * Update utils.py * Add all rgb cameras * Future depth work * Try adding mobile_base velocity * Update tests * Update data_acquisition_server.py * Update with use_external_commands * Replay * Usable with or without mobile base * No need for new isntance * Use same ip for cameras * Remove useless imports * Add resume * Divide joints in multiple dicts * Divide joinits into several dicts in teleoperator * Fix forgotten method call * Create test_robot_client.py * Open gripper on start * Add arguments for cameras * Modify get_frame() requested size * Call generate_joints_dict on _init_ * black + isort * Add reachy2 in imports * Add reachy2 dependencies * Add documentation * Update reachy2.mdx * Update reachy2.mdx * Clean files and add types * Fix type in send_action * Remove print * Delete test files * Clean code * Update cameras * Disconnect from camera * Run pre-commit hooks * Update pyproject.toml * Create test_reachy2.py * Fix generate_joints * Update test_reachy2.py * Update send_action test * Update reachy2_cameras depth + CameraManager * Update reachy2_camera tests * Remove useless import and args * Rename reachy2_teleoperator * Create test_reachy2_teleoperator.py * Fix remainging fake_teleoperator * Remove useless elements * Mock cameras in test_reachy2 * Delete commented lines * Add use_present_position to teleoperator * Add cameras tests * Add check no part + test * Use disable_torque_on_disconnect * Use odometry for vel with present_position * Update documentation * Fix vel value type * Use ensure_safe_goal_position * Import joints dict from classes * Update reachy2.mdx * Update reachy2.mdx * Update minimal version * Update minimal version * fix(tests) fixes for reachy2 tests; removing reachy2 references from the script * Add reachy2_sdk fake as plugins --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
74 lines
2.4 KiB
Python
74 lines
2.4 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 .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 == "so101_leader":
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from .so101_leader import SO101Leader
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return SO101Leader(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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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 == "bi_so100_leader":
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from .bi_so100_leader import BiSO100Leader
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return BiSO100Leader(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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else:
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raise ValueError(config.type)
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