Feat: Support CLI for Launching LeKiwiHost (#1614)

* Support CLI for LeKiwiHost

Signed-off-by: Xingdong Zuo <zuoxingdong@users.noreply.github.com>

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

---------

Signed-off-by: Xingdong Zuo <zuoxingdong@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

src/lerobot/robots/lekiwi/lekiwi_host.py

@@ -18,14 +18,24 @@ import base64
 import json
 import logging
 import time
+from dataclasses import dataclass, field
 
 import cv2
+import draccus
 import zmq
 
 from .config_lekiwi import LeKiwiConfig, LeKiwiHostConfig
 from .lekiwi import LeKiwi
 
 
+@dataclass
+class LeKiwiServerConfig:
+    """Configuration for the LeKiwi host script."""
+
+    robot: LeKiwiConfig = field(default_factory=LeKiwiConfig)
+    host: LeKiwiHostConfig = field(default_factory=LeKiwiHostConfig)
+
+
 class LeKiwiHost:
     def __init__(self, config: LeKiwiHostConfig):
         self.zmq_context = zmq.Context()
@@ -47,17 +57,16 @@ class LeKiwiHost:
         self.zmq_context.term()
 
 
-def main():
+@draccus.wrap()
+def main(cfg: LeKiwiServerConfig):
     logging.info("Configuring LeKiwi")
-    robot_config = LeKiwiConfig()
+    robot = LeKiwi(cfg.robot)
-    robot = LeKiwi(robot_config)
 
     logging.info("Connecting LeKiwi")
     robot.connect()
 
     logging.info("Starting HostAgent")
-    host_config = LeKiwiHostConfig()
+    host = LeKiwiHost(cfg.host)
-    host = LeKiwiHost(host_config)
 
     last_cmd_time = time.time()
     watchdog_active = False