Move make_robot_config

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)