add convert aloha 2 lerobot

collect_data/utils.py

@@ -270,3 +270,53 @@ def init_keyboard_listener():
     listener.start()
 
     return listener, events
+
+
+import yaml
+from argparse import Namespace
+def load_config(yaml_path):
+    """Load configuration from YAML file and return as Namespace object"""
+    with open(yaml_path, 'r') as f:
+        config_dict = yaml.safe_load(f)
+    
+    # Convert dict to Namespace (similar to argparse.Namespace)
+    return Namespace(**config_dict)
+
+
+import platform
+import subprocess
+# import pyttsx3
+def say(text, blocking=False):
+    system = platform.system()
+
+    if system == "Darwin":
+        cmd = ["say", text]
+
+    elif system == "Linux":
+        # cmd = ["spd-say", text]
+        # if blocking:
+        #     cmd.append("--wait")
+        cmd = ["edge-playback", "--text", text]
+
+    elif system == "Windows":
+        cmd = [
+            "PowerShell",
+            "-Command",
+            "Add-Type -AssemblyName System.Speech; "
+            f"(New-Object System.Speech.Synthesis.SpeechSynthesizer).Speak('{text}')",
+        ]
+
+    else:
+        raise RuntimeError("Unsupported operating system for text-to-speech.")
+
+    if blocking:
+        subprocess.run(cmd, check=True)
+    else:
+        subprocess.Popen(cmd, creationflags=subprocess.CREATE_NO_WINDOW if system == "Windows" else 0)
+
+
+def log_say(text, play_sounds, blocking=False):
+    print(text)
+
+    if play_sounds:
+        say(text, blocking)