From 0bda18eab55bc384a9fb5328918365fe3793bdda Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Wed, 21 May 2025 20:18:47 +0200
Subject: [PATCH] Move make_robot_config

---
 .../datasets/v2/convert_dataset_v1_to_v2.py   | 25 ++++++++++++++++++-
 lerobot/common/robots/utils.py                | 24 ------------------
 2 files changed, 24 insertions(+), 25 deletions(-)

diff --git a/lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py b/lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py
index 00fe47d53..136a7a684 100644
--- a/lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py
+++ b/lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py
@@ -142,7 +142,6 @@ from lerobot.common.datasets.video_utils import (
     get_video_info,
 )
 from lerobot.common.robots import RobotConfig
-from lerobot.common.robots.utils import make_robot_config
 
 V16 = "v1.6"
 V20 = "v2.0"
@@ -598,6 +597,30 @@ def convert_dataset(
         create_branch(repo_id=repo_id, branch=V20, repo_type="dataset")
 
 
+def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
+    if robot_type == "aloha":
+        raise NotImplementedError  # TODO
+
+    elif robot_type == "koch_follower":
+        from lerobot.common.robots.koch_follower import KochFollowerConfig
+
+        return KochFollowerConfig(**kwargs)
+    elif robot_type == "so100_follower":
+        from lerobot.common.robots.so100_follower import SO100FollowerConfig
+
+        return SO100FollowerConfig(**kwargs)
+    elif robot_type == "stretch":
+        from lerobot.common.robots.stretch3 import Stretch3RobotConfig
+
+        return Stretch3RobotConfig(**kwargs)
+    elif robot_type == "lekiwi":
+        from lerobot.common.robots.lekiwi import LeKiwiConfig
+
+        return LeKiwiConfig(**kwargs)
+    else:
+        raise ValueError(f"Robot type '{robot_type}' is not available.")
+
+
 def main():
     parser = argparse.ArgumentParser()
     task_args = parser.add_mutually_exclusive_group(required=True)
diff --git a/lerobot/common/robots/utils.py b/lerobot/common/robots/utils.py
index 49253ee26..ec0374955 100644
--- a/lerobot/common/robots/utils.py
+++ b/lerobot/common/robots/utils.py
@@ -20,30 +20,6 @@ from lerobot.common.robots import RobotConfig
 from .robot import Robot
 
 
-def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
-    if robot_type == "aloha":
-        raise NotImplementedError  # TODO
-
-    elif robot_type == "koch_follower":
-        from .koch_follower.config_koch_follower import KochFollowerConfig
-
-        return KochFollowerConfig(**kwargs)
-    elif robot_type == "so100_follower":
-        from .so100_follower.config_so100_follower import SO100FollowerConfig
-
-        return SO100FollowerConfig(**kwargs)
-    elif robot_type == "stretch":
-        from .stretch3.configuration_stretch3 import Stretch3RobotConfig
-
-        return Stretch3RobotConfig(**kwargs)
-    elif robot_type == "lekiwi":
-        from .lekiwi.config_lekiwi import LeKiwiConfig
-
-        return LeKiwiConfig(**kwargs)
-    else:
-        raise ValueError(f"Robot type '{robot_type}' is not available.")
-
-
 def make_robot_from_config(config: RobotConfig) -> Robot:
     if config.type == "koch_follower":
         from .koch_follower import KochFollower