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Move make_robot_config

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Simon Alibert
2025-05-21 20:18:47 +02:00
parent 8ab2227148
commit 0bda18eab5
2 changed files with 24 additions and 25 deletions
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25
lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py
View File

@@ -142,7 +142,6 @@ from lerobot.common.datasets.video_utils import (
get_video_info, get_video_info,
) )
from lerobot.common.robots import RobotConfig from lerobot.common.robots import RobotConfig
from lerobot.common.robots.utils import make_robot_config
V16 = "v1.6" V16 = "v1.6"
V20 = "v2.0" V20 = "v2.0"
@@ -598,6 +597,30 @@ def convert_dataset(
create_branch(repo_id=repo_id, branch=V20, repo_type="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(): def main():
parser = argparse.ArgumentParser() parser = argparse.ArgumentParser()
task_args = parser.add_mutually_exclusive_group(required=True) task_args = parser.add_mutually_exclusive_group(required=True)

24
lerobot/common/robots/utils.py
View File

@@ -20,30 +20,6 @@ from lerobot.common.robots import RobotConfig
from .robot import Robot 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: def make_robot_from_config(config: RobotConfig) -> Robot:
if config.type == "koch_follower": if config.type == "koch_follower":
from .koch_follower import KochFollower from .koch_follower import KochFollower