Add pretrained notebook

examples/notebook_utils.py

@@ -0,0 +1,31 @@
+from pprint import pprint
+
+from hydra import compose, initialize
+from hydra.core.global_hydra import GlobalHydra
+from omegaconf import OmegaConf
+from omegaconf.dictconfig import DictConfig
+
+CONFIG_DIR = "../lerobot/configs"
+DEFAULT_CONFIG = "default"
+
+
+def config_notebook(
+    policy: str = "diffusion",
+    env: str = "pusht",
+    device: str = "cpu",
+    config_name=DEFAULT_CONFIG,
+    config_path=CONFIG_DIR,
+    print_config: bool = False,
+) -> DictConfig:
+    GlobalHydra.instance().clear()
+    initialize(config_path=config_path)
+    overrides = [
+        f"env={env}",
+        f"policy={policy}",
+        f"device={device}",
+    ]
+    cfg = compose(config_name=config_name, overrides=overrides)
+    if print_config:
+        pprint(OmegaConf.to_container(cfg))
+
+    return cfg