def parse_robot_config()

in lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py [0:0]

• 24 lines of code
• 11 McCabe index (conditional complexity)

def parse_robot_config(robot_cfg: RobotConfig) -> tuple[str, dict]:
    if robot_cfg.type in ["aloha", "koch"]:
        state_names = [
            f"{arm}_{motor}" if len(robot_cfg.follower_arms) > 1 else motor
            for arm in robot_cfg.follower_arms
            for motor in robot_cfg.follower_arms[arm].motors
        ]
        action_names = [
            # f"{arm}_{motor}" for arm in ["left", "right"] for motor in robot_cfg["leader_arms"][arm]["motors"]
            f"{arm}_{motor}" if len(robot_cfg.leader_arms) > 1 else motor
            for arm in robot_cfg.leader_arms
            for motor in robot_cfg.leader_arms[arm].motors
        ]
    # elif robot_cfg["robot_type"] == "stretch3": TODO
    else:
        raise NotImplementedError(
            "Please provide robot_config={'robot_type': ..., 'names': ...} directly to convert_dataset()."
        )

    return {
        "robot_type": robot_cfg.type,
        "names": {
            "observation.state": state_names,
            "observation.effort": state_names,
            "action": action_names,
        },
    }