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https://github.com/huggingface/lerobot.git
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c2fb644613
* upload * feat(omx): simplify motor initialization and remove default calibration files * feat(omx): read motor positions without normalization for improved accuracy * update calibration method for return factory value Signed-off-by: Junha Cha <ckwnsgk1@gachon.ac.kr> * change the drive mode * refactor: clean up code by removing unnecessary blank lines in omx_follower and omx_leader modules * feat(omx): update calibration method to set drive modes for motors * feat(pyproject): add 'ROBOTIS' to extend-ignore-identifiers-re list * feat(omx): enhance calibration method to write default drive modes to motors * Update src/lerobot/robots/omx_follower/__init__.py Add informations about the robot Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> Signed-off-by: Woojin Wie <dnldnwls1123@gmail.com> --------- Signed-off-by: Junha Cha <ckwnsgk1@gachon.ac.kr> Signed-off-by: Woojin Wie <dnldnwls1123@gmail.com> Co-authored-by: Junha02 <chajunha2023@naver.com> Co-authored-by: Junha Cha <ckwnsgk1@gachon.ac.kr> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
89 lines
3.0 KiB
Python
89 lines
3.0 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 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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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 .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 == "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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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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