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fix(scripts): register third-party plugins in lerobot_setup_motors (#4123)

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* fix(scripts): register third-party plugins in setup-motors

* test(setup-motors): cover plugin registration

---------

Co-authored-by: Janos von Gencsy <janos.von-gencsy@tum.de>
This commit is contained in:
Steven Palma
2026-07-23 18:06:44 +02:00
committed by GitHub
parent 228cb5ddb9
commit 679faeaafc
2 changed files with 55 additions and 17 deletions
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src/lerobot/scripts/lerobot_setup_motors.py
+6 -17
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@@ -51,19 +51,7 @@ from lerobot.teleoperators import ( # noqa: F401
rebot_102_leader,
so_leader,
)
COMPATIBLE_DEVICES = [
"koch_follower",
"koch_leader",
"omx_follower",
"omx_leader",
"openarm_mini",
"so100_follower",
"so100_leader",
"so101_follower",
"so101_leader",
"lekiwi",
]
from lerobot.utils.import_utils import register_third_party_plugins
@dataclass
@@ -80,18 +68,19 @@ class SetupConfig:
@draccus.wrap()
def setup_motors(cfg: SetupConfig):
if cfg.device.type not in COMPATIBLE_DEVICES:
raise NotImplementedError
if isinstance(cfg.device, RobotConfig):
device = make_robot_from_config(cfg.device)
else:
device = make_teleoperator_from_config(cfg.device)
device.setup_motors()
setup = getattr(device, "setup_motors", None)
if not callable(setup):
raise NotImplementedError(f"Device type '{cfg.device.type}' does not support motor setup.")
setup()
def main():
register_third_party_plugins()
setup_motors()