Add custom teleop #2383
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Add custom teleop #2383
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Pull Request Overview
This PR introduces a custom teleoperator wrapper that dynamically instantiates and manages multiple base teleoperator instances based on JSON configuration. This enables flexible control of multiple teleoperator devices with configurable joint mappings.
- Adds a
Customteleoperator class that wraps multiple base teleoperator instances - Implements JSON-based configuration for specifying teleoperator devices and their joint mappings
- Supports neutral value assignments and joint value transformations (inversion, normalization)
Reviewed Changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| custom_config.json | Configuration file defining right and left arm teleoperators with joint mappings |
| custom.py | Main implementation of the Custom teleoperator wrapper with dynamic class loading and joint mapping logic |
| config_custom.py | Configuration dataclass for the Custom teleoperator specifying required config_path parameter |
| init.py | Module initialization exporting CustomConfig and Custom classes |
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| for device_name, teleop in self.base_teleops.items(): | ||
| # Read joint positions from this teleoperator | ||
| # These are in the teleoperator's normalization mode (e.g., -100 to 100) | ||
| joint_positions = teleop._read() |
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Calling a private method _read() from another class violates encapsulation. Consider using the public get_action() method instead, or document why direct access to _read() is necessary.
Suggested change
| joint_positions = teleop._read() | |
| joint_positions = teleop.get_action() |
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Custom Teleoperator is a configuration-driven wrapper that lets you compose multiple existing teleoperators (e.g. HomunculusArm, SO100Leader…) and define how each robot joint is driven by which device, entirely from JSON. It supports running multiple physical devices at once (like left + right hand on two separate Homunculus gloves), lets you map individual joints to teleop values or hold them at fixed neutral values, and handles normalization + degree conversion internally using calibration data when available.