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feat: is connect checks decorators (#2813)

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This commit is contained in:
Steven Palma
2026-01-16 18:52:06 +01:00
committed by GitHub
parent 77dc49b3a3
commit 46e19ae579
22 changed files with 144 additions and 261 deletions
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src/lerobot/motors/motors_bus.py
+7 -25
View File
@@ -32,7 +32,7 @@ import serial
from deepdiff import DeepDiff
from tqdm import tqdm
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.utils import enter_pressed, move_cursor_up
NameOrID: TypeAlias = str | int
@@ -411,6 +411,7 @@ class MotorsBus(abc.ABC):
"""bool: `True` if the underlying serial port is open."""
return self.port_handler.is_open
@check_if_already_connected
def connect(self, handshake: bool = True) -> None:
"""Open the serial port and initialise communication.
@@ -422,10 +423,6 @@ class MotorsBus(abc.ABC):
DeviceAlreadyConnectedError: The port is already open.
ConnectionError: The underlying SDK failed to open the port or the handshake did not succeed.
"""
if self.is_connected:
raise DeviceAlreadyConnectedError(
f"{self.__class__.__name__}('{self.port}') is already connected. Do not call `{self.__class__.__name__}.connect()` twice."
)
self._connect(handshake)
self.set_timeout()
@@ -447,6 +444,7 @@ class MotorsBus(abc.ABC):
def _handshake(self) -> None:
pass
@check_if_not_connected
def disconnect(self, disable_torque: bool = True) -> None:
"""Close the serial port (optionally disabling torque first).
@@ -455,10 +453,6 @@ class MotorsBus(abc.ABC):
closing the port. This can prevent damaging motors if they are left applying resisting torque
after disconnect.
"""
if not self.is_connected:
raise DeviceNotConnectedError(
f"{self.__class__.__name__}('{self.port}') is not connected. Try running `{self.__class__.__name__}.connect()` first."
)
if disable_torque:
self.port_handler.clearPort()
@@ -907,6 +901,7 @@ class MotorsBus(abc.ABC):
"""
pass
@check_if_not_connected
def read(
self,
data_name: str,
@@ -927,10 +922,6 @@ class MotorsBus(abc.ABC):
Returns:
Value: Raw or normalised value depending on *normalize*.
"""
if not self.is_connected:
raise DeviceNotConnectedError(
f"{self.__class__.__name__}('{self.port}') is not connected. You need to run `{self.__class__.__name__}.connect()`."
)
id_ = self.motors[motor].id
model = self.motors[motor].model
@@ -981,6 +972,7 @@ class MotorsBus(abc.ABC):
return value, comm, error
@check_if_not_connected
def write(
self, data_name: str, motor: str, value: Value, *, normalize: bool = True, num_retry: int = 0
) -> None:
@@ -999,10 +991,6 @@ class MotorsBus(abc.ABC):
normalize (bool, optional): Enable or disable normalisation. Defaults to `True`.
num_retry (int, optional): Retry attempts. Defaults to `0`.
"""
if not self.is_connected:
raise DeviceNotConnectedError(
f"{self.__class__.__name__}('{self.port}') is not connected. You need to run `{self.__class__.__name__}.connect()`."
)
id_ = self.motors[motor].id
model = self.motors[motor].model
@@ -1044,6 +1032,7 @@ class MotorsBus(abc.ABC):
return comm, error
@check_if_not_connected
def sync_read(
self,
data_name: str,
@@ -1063,10 +1052,6 @@ class MotorsBus(abc.ABC):
Returns:
dict[str, Value]: Mapping *motor name → value*.
"""
if not self.is_connected:
raise DeviceNotConnectedError(
f"{self.__class__.__name__}('{self.port}') is not connected. You need to run `{self.__class__.__name__}.connect()`."
)
self._assert_protocol_is_compatible("sync_read")
@@ -1139,6 +1124,7 @@ class MotorsBus(abc.ABC):
# for id_ in motor_ids:
# value = self.sync_reader.getData(id_, address, length)
@check_if_not_connected
def sync_write(
self,
data_name: str,
@@ -1160,10 +1146,6 @@ class MotorsBus(abc.ABC):
normalize (bool, optional): If `True` (default) convert values from the user range to raw units.
num_retry (int, optional): Retry attempts. Defaults to `0`.
"""
if not self.is_connected:
raise DeviceNotConnectedError(
f"{self.__class__.__name__}('{self.port}') is not connected. You need to run `{self.__class__.__name__}.connect()`."
)
ids_values = self._get_ids_values_dict(values)
models = [self._id_to_model(id_) for id_ in ids_values]
src/lerobot/robots/earthrover_mini_plus/robot_earthrover_mini_plus.py
+6 -9
View File
@@ -24,7 +24,8 @@ import numpy as np
import requests
from lerobot.processor import RobotAction, RobotObservation
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.errors import DeviceNotConnectedError
from ..robot import Robot
from .config_earthrover_mini_plus import EarthRoverMiniPlusConfig
@@ -99,6 +100,7 @@ class EarthRoverMiniPlus(Robot):
"""Check if robot is connected to SDK."""
return self._is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
"""Connect to robot via Frodobots SDK.
@@ -109,8 +111,6 @@ class EarthRoverMiniPlus(Robot):
DeviceAlreadyConnectedError: If robot is already connected
DeviceNotConnectedError: If cannot connect to SDK server
"""
if self._is_connected:
raise DeviceAlreadyConnectedError(f"{self.name} is already connected")
# Verify SDK is running and accessible
try:
@@ -197,6 +197,7 @@ class EarthRoverMiniPlus(Robot):
ACTION_ANGULAR_VEL: float,
}
@check_if_not_connected
def get_observation(self) -> RobotObservation:
"""Get current robot observation from SDK.
@@ -223,8 +224,6 @@ class EarthRoverMiniPlus(Robot):
Robot telemetry is retrieved from /data endpoint.
All SDK values are normalized to appropriate ranges for dataset recording.
"""
if not self._is_connected:
raise DeviceNotConnectedError(f"{self.name} is not connected")
observation = {}
@@ -255,6 +254,7 @@ class EarthRoverMiniPlus(Robot):
return observation
@check_if_not_connected
def send_action(self, action: RobotAction) -> RobotAction:
"""Send action to robot via SDK.
@@ -272,8 +272,6 @@ class EarthRoverMiniPlus(Robot):
Actions are sent to SDK via POST /control endpoint.
SDK expects commands in range [-1, 1].
"""
if not self._is_connected:
raise DeviceNotConnectedError(f"{self.name} is not connected")
# Extract action values and convert to float
linear = float(action.get(ACTION_LINEAR_VEL, 0.0))
@@ -291,6 +289,7 @@ class EarthRoverMiniPlus(Robot):
ACTION_ANGULAR_VEL: angular,
}
@check_if_not_connected
def disconnect(self) -> None:
"""Disconnect from robot.
@@ -299,8 +298,6 @@ class EarthRoverMiniPlus(Robot):
Raises:
DeviceNotConnectedError: If robot is not connected
"""
if not self._is_connected:
raise DeviceNotConnectedError(f"{self.name} is not connected")
# Stop the robot before disconnecting
try:
src/lerobot/robots/hope_jr/hope_jr_arm.py
+5 -12
View File
@@ -25,7 +25,7 @@ from lerobot.motors.feetech import (
FeetechMotorsBus,
)
from lerobot.processor import RobotAction, RobotObservation
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..robot import Robot
from ..utils import ensure_safe_goal_position
@@ -82,13 +82,12 @@ class HopeJrArm(Robot):
def is_connected(self) -> bool:
return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
"""
We assume that at connection time, arm is in a rest position,
and torque can be safely disabled to run calibration.
"""
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect(handshake=False)
if not self.is_calibrated and calibrate:
@@ -128,10 +127,8 @@ class HopeJrArm(Robot):
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
@check_if_not_connected
def get_observation(self) -> RobotObservation:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
# Read arm position
start = time.perf_counter()
obs_dict = self.bus.sync_read("Present_Position", self.other_motors)
@@ -149,10 +146,8 @@ class HopeJrArm(Robot):
return obs_dict
@check_if_not_connected
def send_action(self, action: RobotAction) -> RobotAction:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
# Cap goal position when too far away from present position.
@@ -165,10 +160,8 @@ class HopeJrArm(Robot):
self.bus.sync_write("Goal_Position", goal_pos)
return {f"{motor}.pos": val for motor, val in goal_pos.items()}
@check_if_not_connected
def disconnect(self):
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect(self.config.disable_torque_on_disconnect)
for cam in self.cameras.values():
cam.disconnect()
src/lerobot/robots/hope_jr/hope_jr_hand.py
+5 -13
View File
@@ -25,7 +25,7 @@ from lerobot.motors.feetech import (
FeetechMotorsBus,
)
from lerobot.processor import RobotAction, RobotObservation
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..robot import Robot
from .config_hope_jr import HopeJrHandConfig
@@ -118,10 +118,8 @@ class HopeJrHand(Robot):
def is_connected(self) -> bool:
return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
self.calibrate()
@@ -159,10 +157,8 @@ class HopeJrHand(Robot):
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
@check_if_not_connected
def get_observation(self) -> RobotObservation:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
obs_dict = {}
# Read hand position
@@ -181,18 +177,14 @@ class HopeJrHand(Robot):
return obs_dict
@check_if_not_connected
def send_action(self, action: RobotAction) -> RobotAction:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
self.bus.sync_write("Goal_Position", goal_pos)
return action
@check_if_not_connected
def disconnect(self):
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect(self.config.disable_torque_on_disconnect)
for cam in self.cameras.values():
cam.disconnect()
src/lerobot/robots/koch_follower/koch_follower.py
+5 -11
View File
@@ -25,7 +25,7 @@ from lerobot.motors.dynamixel import (
OperatingMode,
)
from lerobot.processor import RobotAction, RobotObservation
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..robot import Robot
from ..utils import ensure_safe_goal_position
@@ -84,13 +84,12 @@ class KochFollower(Robot):
def is_connected(self) -> bool:
return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
"""
We assume that at connection time, arm is in a rest position,
and torque can be safely disabled to run calibration.
"""
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
@@ -182,10 +181,8 @@ class KochFollower(Robot):
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
@check_if_not_connected
def get_observation(self) -> RobotObservation:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
# Read arm position
start = time.perf_counter()
obs_dict = self.bus.sync_read("Present_Position")
@@ -202,6 +199,7 @@ class KochFollower(Robot):
return obs_dict
@check_if_not_connected
def send_action(self, action: RobotAction) -> RobotAction:
"""Command arm to move to a target joint configuration.
@@ -215,8 +213,6 @@ class KochFollower(Robot):
Returns:
RobotAction: The action sent to the motors, potentially clipped.
"""
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
@@ -231,10 +227,8 @@ class KochFollower(Robot):
self.bus.sync_write("Goal_Position", goal_pos)
return {f"{motor}.pos": val for motor, val in goal_pos.items()}
@check_if_not_connected
def disconnect(self):
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect(self.config.disable_torque_on_disconnect)
for cam in self.cameras.values():
cam.disconnect()
src/lerobot/robots/lekiwi/lekiwi.py
+5 -12
View File
@@ -29,7 +29,7 @@ from lerobot.motors.feetech import (
OperatingMode,
)
from lerobot.processor import RobotAction, RobotObservation
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..robot import Robot
from ..utils import ensure_safe_goal_position
@@ -109,10 +109,8 @@ class LeKiwi(Robot):
def is_connected(self) -> bool:
return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
@@ -339,10 +337,8 @@ class LeKiwi(Robot):
"theta.vel": theta,
} # m/s and deg/s
@check_if_not_connected
def get_observation(self) -> RobotObservation:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
# Read actuators position for arm and vel for base
start = time.perf_counter()
arm_pos = self.bus.sync_read("Present_Position", self.arm_motors)
@@ -370,6 +366,7 @@ class LeKiwi(Robot):
return obs_dict
@check_if_not_connected
def send_action(self, action: RobotAction) -> RobotAction:
"""Command lekiwi to move to a target joint configuration.
@@ -383,8 +380,6 @@ class LeKiwi(Robot):
Returns:
RobotAction: the action sent to the motors, potentially clipped.
"""
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
arm_goal_pos = {k: v for k, v in action.items() if k.endswith(".pos")}
base_goal_vel = {k: v for k, v in action.items() if k.endswith(".vel")}
@@ -412,10 +407,8 @@ class LeKiwi(Robot):
self.bus.sync_write("Goal_Velocity", dict.fromkeys(self.base_motors, 0), num_retry=5)
logger.info("Base motors stopped")
@check_if_not_connected
def disconnect(self):
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.stop_base()
self.bus.disconnect(self.config.disable_torque_on_disconnect)
for cam in self.cameras.values():
src/lerobot/robots/lekiwi/lekiwi_client.py
+6 -16
View File
@@ -24,7 +24,8 @@ import numpy as np
from lerobot.processor import RobotAction, RobotObservation
from lerobot.utils.constants import ACTION, OBS_STATE
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.errors import DeviceNotConnectedError
from ..robot import Robot
from .config_lekiwi import LeKiwiClientConfig
@@ -112,14 +113,10 @@ class LeKiwiClient(Robot):
def is_calibrated(self) -> bool:
pass
@check_if_already_connected
def connect(self) -> None:
"""Establishes ZMQ sockets with the remote mobile robot"""
if self._is_connected:
raise DeviceAlreadyConnectedError(
"LeKiwi Daemon is already connected. Do not run `robot.connect()` twice."
)
zmq = self._zmq
self.zmq_context = zmq.Context()
self.zmq_cmd_socket = self.zmq_context.socket(zmq.PUSH)
@@ -252,14 +249,13 @@ class LeKiwiClient(Robot):
return new_frames, new_state
@check_if_not_connected
def get_observation(self) -> RobotObservation:
"""
Capture observations from the remote robot: current follower arm positions,
present wheel speeds (converted to body-frame velocities: x, y, theta),
and a camera frame. Receives over ZMQ, translate to body-frame vel
"""
if not self._is_connected:
raise DeviceNotConnectedError("LeKiwiClient is not connected. You need to run `robot.connect()`.")
frames, obs_dict = self._get_data()
@@ -307,6 +303,7 @@ class LeKiwiClient(Robot):
def configure(self):
pass
@check_if_not_connected
def send_action(self, action: RobotAction) -> RobotAction:
"""Command lekiwi to move to a target joint configuration. Translates to motor space + sends over ZMQ
@@ -318,10 +315,6 @@ class LeKiwiClient(Robot):
Returns:
np.ndarray: the action sent to the motors, potentially clipped.
"""
if not self._is_connected:
raise DeviceNotConnectedError(
"ManipulatorRobot is not connected. You need to run `robot.connect()`."
)
self.zmq_cmd_socket.send_string(json.dumps(action)) # action is in motor space
@@ -332,13 +325,10 @@ class LeKiwiClient(Robot):
action_sent[ACTION] = actions
return action_sent
@check_if_not_connected
def disconnect(self):
"""Cleans ZMQ comms"""
if not self._is_connected:
raise DeviceNotConnectedError(
"LeKiwi is not connected. You need to run `robot.connect()` before disconnecting."
)
self.zmq_observation_socket.close()
self.zmq_cmd_socket.close()
self.zmq_context.term()
src/lerobot/robots/omx_follower/omx_follower.py
+5 -11
View File
@@ -26,7 +26,7 @@ from lerobot.motors.dynamixel import (
OperatingMode,
)
from lerobot.processor import RobotAction, RobotObservation
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..robot import Robot
from ..utils import ensure_safe_goal_position
@@ -84,6 +84,7 @@ class OmxFollower(Robot):
def is_connected(self) -> bool:
return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
"""
For OMX robots that come pre-calibrated:
@@ -91,8 +92,6 @@ class OmxFollower(Robot):
- This allows using pre-calibrated robots without manual calibration
- If no calibration file exists, use factory default values (homing_offset=0, range_min=0, range_max=4095)
"""
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
@@ -165,10 +164,8 @@ class OmxFollower(Robot):
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
@check_if_not_connected
def get_observation(self) -> RobotObservation:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
# Read arm position
start = time.perf_counter()
obs_dict = self.bus.sync_read("Present_Position")
@@ -185,6 +182,7 @@ class OmxFollower(Robot):
return obs_dict
@check_if_not_connected
def send_action(self, action: RobotAction) -> RobotAction:
"""Command arm to move to a target joint configuration.
@@ -198,8 +196,6 @@ class OmxFollower(Robot):
Returns:
RobotAction: The action sent to the motors, potentially clipped.
"""
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
@@ -214,10 +210,8 @@ class OmxFollower(Robot):
self.bus.sync_write("Goal_Position", goal_pos)
return {f"{motor}.pos": val for motor, val in goal_pos.items()}
@check_if_not_connected
def disconnect(self):
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect(self.config.disable_torque_on_disconnect)
for cam in self.cameras.values():
cam.disconnect()
src/lerobot/robots/so_follower/so_follower.py
+5 -11
View File
@@ -26,7 +26,7 @@ from lerobot.motors.feetech import (
OperatingMode,
)
from lerobot.processor import RobotAction, RobotObservation
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..robot import Robot
from ..utils import ensure_safe_goal_position
@@ -85,13 +85,12 @@ class SOFollower(Robot):
def is_connected(self) -> bool:
return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
"""
We assume that at connection time, arm is in a rest position,
and torque can be safely disabled to run calibration.
"""
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
@@ -176,10 +175,8 @@ class SOFollower(Robot):
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
@check_if_not_connected
def get_observation(self) -> RobotObservation:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
# Read arm position
start = time.perf_counter()
obs_dict = self.bus.sync_read("Present_Position")
@@ -196,6 +193,7 @@ class SOFollower(Robot):
return obs_dict
@check_if_not_connected
def send_action(self, action: RobotAction) -> RobotAction:
"""Command arm to move to a target joint configuration.
@@ -209,8 +207,6 @@ class SOFollower(Robot):
Returns:
RobotAction: the action sent to the motors, potentially clipped.
"""
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
@@ -225,10 +221,8 @@ class SOFollower(Robot):
self.bus.sync_write("Goal_Position", goal_pos)
return {f"{motor}.pos": val for motor, val in goal_pos.items()}
@check_if_not_connected
def disconnect(self):
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect(self.config.disable_torque_on_disconnect)
for cam in self.cameras.values():
cam.disconnect()
src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py
+2 -4
View File
@@ -18,7 +18,7 @@ import logging
from functools import cached_property
from lerobot.teleoperators.so_leader import SOLeaderTeleopConfig
from lerobot.utils.errors import DeviceNotConnectedError
from lerobot.utils.decorators import check_if_not_connected
from ..so_leader import SOLeader
from ..teleoperator import Teleoperator
@@ -92,10 +92,8 @@ class BiSOLeader(Teleoperator):
self.left_arm.setup_motors()
self.right_arm.setup_motors()
@check_if_not_connected
def get_action(self) -> dict[str, float]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
action_dict = {}
# Add "left_" prefix
src/lerobot/teleoperators/gamepad/teleop_gamepad.py
+2 -4
View File
@@ -21,7 +21,7 @@ from typing import Any
import numpy as np
from lerobot.processor import RobotAction
from lerobot.utils.errors import DeviceNotConnectedError
from lerobot.utils.decorators import check_if_not_connected
from ..teleoperator import Teleoperator
from ..utils import TeleopEvents
@@ -86,10 +86,8 @@ class GamepadTeleop(Teleoperator):
self.gamepad = Gamepad()
self.gamepad.start()
@check_if_not_connected
def get_action(self) -> RobotAction:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
# Update the controller to get fresh inputs
self.gamepad.update()
src/lerobot/teleoperators/homunculus/homunculus_arm.py
+4 -10
View File
@@ -22,7 +22,7 @@ from pprint import pformat
import serial
from lerobot.motors.motors_bus import MotorCalibration, MotorNormMode
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.utils import enter_pressed, move_cursor_up
from ..teleoperator import Teleoperator
@@ -93,10 +93,8 @@ class HomunculusArm(Teleoperator):
with self.serial_lock:
return self.serial.is_open and self.thread.is_alive()
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
if not self.serial.is_open:
self.serial.open()
self.thread.start()
@@ -299,20 +297,16 @@ class HomunculusArm(Teleoperator):
except Exception as e:
logger.debug(f"Error reading frame in background thread for {self}: {e}")
@check_if_not_connected
def get_action(self) -> dict[str, float]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
joint_positions = self._read()
return {f"{joint}.pos": pos for joint, pos in joint_positions.items()}
def send_feedback(self, feedback: dict[str, float]) -> None:
raise NotImplementedError
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
DeviceNotConnectedError(f"{self} is not connected.")
self.stop_event.set()
self.thread.join(timeout=1)
self.serial.close()
src/lerobot/teleoperators/homunculus/homunculus_glove.py
+4 -10
View File
@@ -24,7 +24,7 @@ import serial
from lerobot.motors import MotorCalibration
from lerobot.motors.motors_bus import MotorNormMode
from lerobot.teleoperators.homunculus.joints_translation import homunculus_glove_to_hope_jr_hand
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.utils import enter_pressed, move_cursor_up
from ..teleoperator import Teleoperator
@@ -119,10 +119,8 @@ class HomunculusGlove(Teleoperator):
with self.serial_lock:
return self.serial.is_open and self.thread.is_alive()
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
if not self.serial.is_open:
self.serial.open()
self.thread.start()
@@ -325,10 +323,8 @@ class HomunculusGlove(Teleoperator):
except Exception as e:
logger.debug(f"Error reading frame in background thread for {self}: {e}")
@check_if_not_connected
def get_action(self) -> dict[str, float]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
joint_positions = self._read()
return homunculus_glove_to_hope_jr_hand(
{f"{joint}.pos": pos for joint, pos in joint_positions.items()}
@@ -337,10 +333,8 @@ class HomunculusGlove(Teleoperator):
def send_feedback(self, feedback: dict[str, float]) -> None:
raise NotImplementedError
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
DeviceNotConnectedError(f"{self} is not connected.")
self.stop_event.set()
self.thread.join(timeout=1)
self.serial.close()
src/lerobot/teleoperators/keyboard/teleop_keyboard.py
+6 -25
View File
@@ -22,7 +22,7 @@ from queue import Queue
from typing import Any
from lerobot.processor import RobotAction
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..teleoperator import Teleoperator
from ..utils import TeleopEvents
@@ -86,12 +86,8 @@ class KeyboardTeleop(Teleoperator):
def is_calibrated(self) -> bool:
pass
@check_if_already_connected
def connect(self) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(
"Keyboard is already connected. Do not run `robot.connect()` twice."
)
if PYNPUT_AVAILABLE:
logging.info("pynput is available - enabling local keyboard listener.")
self.listener = keyboard.Listener(
@@ -125,14 +121,10 @@ class KeyboardTeleop(Teleoperator):
def configure(self):
pass
@check_if_not_connected
def get_action(self) -> RobotAction:
before_read_t = time.perf_counter()
if not self.is_connected:
raise DeviceNotConnectedError(
"KeyboardTeleop is not connected. You need to run `connect()` before `get_action()`."
)
self._drain_pressed_keys()
# Generate action based on current key states
@@ -144,11 +136,8 @@ class KeyboardTeleop(Teleoperator):
def send_feedback(self, feedback: dict[str, Any]) -> None:
pass
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(
"KeyboardTeleop is not connected. You need to run `robot.connect()` before `disconnect()`."
)
if self.listener is not None:
self.listener.stop()
@@ -182,12 +171,8 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
"names": {"delta_x": 0, "delta_y": 1, "delta_z": 2},
}
@check_if_not_connected
def get_action(self) -> RobotAction:
if not self.is_connected:
raise DeviceNotConnectedError(
"KeyboardTeleop is not connected. You need to run `connect()` before `get_action()`."
)
self._drain_pressed_keys()
delta_x = 0.0
delta_y = 0.0
@@ -375,6 +360,7 @@ class KeyboardRoverTeleop(KeyboardTeleop):
# Only remove key if it's being released
self.current_pressed.pop(key_char, None)
@check_if_not_connected
def get_action(self) -> RobotAction:
"""
Get the current action based on pressed keys.
@@ -384,11 +370,6 @@ class KeyboardRoverTeleop(KeyboardTeleop):
"""
before_read_t = time.perf_counter()
if not self.is_connected:
raise DeviceNotConnectedError(
"KeyboardRoverTeleop is not connected. You need to run `connect()` before `get_action()`."
)
self._drain_pressed_keys()
linear_velocity = 0.0
src/lerobot/teleoperators/koch_leader/koch_leader.py
+4 -10
View File
@@ -23,7 +23,7 @@ from lerobot.motors.dynamixel import (
DynamixelMotorsBus,
OperatingMode,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..teleoperator import Teleoperator
from .config_koch_leader import KochLeaderConfig
@@ -69,10 +69,8 @@ class KochLeader(Teleoperator):
def is_connected(self) -> bool:
return self.bus.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
@@ -161,10 +159,8 @@ class KochLeader(Teleoperator):
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
@check_if_not_connected
def get_action(self) -> dict[str, float]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
start = time.perf_counter()
action = self.bus.sync_read("Present_Position")
action = {f"{motor}.pos": val for motor, val in action.items()}
@@ -176,9 +172,7 @@ class KochLeader(Teleoperator):
# TODO(rcadene, aliberts): Implement force feedback
raise NotImplementedError
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect()
logger.info(f"{self} disconnected.")
src/lerobot/teleoperators/omx_leader/omx_leader.py
+4 -10
View File
@@ -23,7 +23,7 @@ from lerobot.motors.dynamixel import (
DynamixelMotorsBus,
OperatingMode,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..teleoperator import Teleoperator
from .config_omx_leader import OmxLeaderConfig
@@ -68,10 +68,8 @@ class OmxLeader(Teleoperator):
def is_connected(self) -> bool:
return self.bus.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
@@ -142,10 +140,8 @@ class OmxLeader(Teleoperator):
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
@check_if_not_connected
def get_action(self) -> dict[str, float]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
start = time.perf_counter()
action = self.bus.sync_read("Present_Position")
action = {f"{motor}.pos": val for motor, val in action.items()}
@@ -157,9 +153,7 @@ class OmxLeader(Teleoperator):
# TODO(rcadene, aliberts): Implement force feedback
raise NotImplementedError
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect()
logger.info(f"{self} disconnected.")
src/lerobot/teleoperators/phone/teleop_phone.py
+7 -19
View File
@@ -28,7 +28,7 @@ from teleop import Teleop
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
from lerobot.teleoperators.teleoperator import Teleoperator
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.rotation import Rotation
logger = logging.getLogger(__name__)
@@ -81,10 +81,8 @@ class IOSPhone(BasePhone, Teleoperator):
def is_connected(self) -> bool:
return self._group is not None
@check_if_already_connected
def connect(self) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
logger.info("Connecting to IPhone, make sure to open the HEBI Mobile I/O app.")
lookup = hebi.Lookup()
time.sleep(2.0)
@@ -164,10 +162,8 @@ class IOSPhone(BasePhone, Teleoperator):
pos = ar_pos - rot.apply(self.config.camera_offset)
return True, pos, rot, pose
@check_if_not_connected
def get_action(self) -> dict:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
has_pose, raw_position, raw_rotation, fb_pose = self._read_current_pose()
if not has_pose or not self.is_calibrated:
return {}
@@ -207,10 +203,8 @@ class IOSPhone(BasePhone, Teleoperator):
"phone.enabled": self._enabled,
}
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self._group = None
@@ -230,10 +224,8 @@ class AndroidPhone(BasePhone, Teleoperator):
def is_connected(self) -> bool:
return self._teleop is not None
@check_if_already_connected
def connect(self) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
logger.info("Starting teleop stream for Android...")
self._teleop = Teleop()
self._teleop.subscribe(self._android_callback)
@@ -321,10 +313,8 @@ class AndroidPhone(BasePhone, Teleoperator):
self._latest_pose = pose
self._latest_message = message
@check_if_not_connected
def get_action(self) -> dict:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
ok, raw_pos, raw_rot, pose = self._read_current_pose()
if not ok or not self.is_calibrated:
return {}
@@ -356,10 +346,8 @@ class AndroidPhone(BasePhone, Teleoperator):
"phone.enabled": self._enabled,
}
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self._teleop = None
if self._teleop_thread and self._teleop_thread.is_alive():
self._teleop_thread.join(timeout=1.0)
src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py
+4 -7
View File
@@ -26,7 +26,8 @@ if TYPE_CHECKING or _reachy2_sdk_available:
else:
ReachySDK = None
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.errors import DeviceNotConnectedError
from ..teleoperator import Teleoperator
from .config_reachy2_teleoperator import Reachy2TeleoperatorConfig
@@ -126,10 +127,8 @@ class Reachy2Teleoperator(Teleoperator):
def is_connected(self) -> bool:
return self.reachy.is_connected() if self.reachy is not None else False
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.reachy = ReachySDK(self.config.ip_address)
if not self.is_connected:
@@ -146,12 +145,10 @@ class Reachy2Teleoperator(Teleoperator):
def configure(self) -> None:
pass
@check_if_not_connected
def get_action(self) -> dict[str, float]:
start = time.perf_counter()
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
joint_action: dict[str, float] = {}
vel_action: dict[str, float] = {}
src/lerobot/teleoperators/so_leader/so_leader.py
+4 -10
View File
@@ -23,7 +23,7 @@ from lerobot.motors.feetech import (
FeetechMotorsBus,
OperatingMode,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from ..teleoperator import Teleoperator
from .config_so_leader import SOLeaderTeleopConfig
@@ -66,10 +66,8 @@ class SOLeader(Teleoperator):
def is_connected(self) -> bool:
return self.bus.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
@@ -139,10 +137,8 @@ class SOLeader(Teleoperator):
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
@check_if_not_connected
def get_action(self) -> dict[str, float]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
start = time.perf_counter()
action = self.bus.sync_read("Present_Position")
action = {f"{motor}.pos": val for motor, val in action.items()}
@@ -154,10 +150,8 @@ class SOLeader(Teleoperator):
# TODO: Implement force feedback
raise NotImplementedError
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect()
logger.info(f"{self} disconnected.")
src/lerobot/utils/decorators.py
+41
View File
@@ -0,0 +1,41 @@
#!/usr/bin/env python
# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from functools import wraps
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
def check_if_not_connected(func):
@wraps(func)
def wrapper(self, *args, **kwargs):
if not self.is_connected:
raise DeviceNotConnectedError(
f"{self.__class__.__name__} is not connected. Run `.connect()` first."
)
return func(self, *args, **kwargs)
return wrapper
def check_if_already_connected(func):
@wraps(func)
def wrapper(self, *args, **kwargs):
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self.__class__.__name__} is already connected.")
return func(self, *args, **kwargs)
return wrapper
tests/mocks/mock_robot.py
+6 -16
View File
@@ -22,7 +22,7 @@ from lerobot.cameras import CameraConfig, make_cameras_from_configs
from lerobot.motors.motors_bus import Motor, MotorNormMode
from lerobot.processor import RobotAction, RobotObservation
from lerobot.robots import Robot, RobotConfig
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from tests.mocks.mock_motors_bus import MockMotorsBus
@@ -98,10 +98,8 @@ class MockRobot(Robot):
def is_connected(self) -> bool:
return self._is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self._is_connected = True
if calibrate:
self.calibrate()
@@ -110,19 +108,15 @@ class MockRobot(Robot):
def is_calibrated(self) -> bool:
return self._is_calibrated
@check_if_not_connected
def calibrate(self) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self._is_calibrated = True
def configure(self) -> None:
pass
@check_if_not_connected
def get_observation(self) -> RobotObservation:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
if self.config.random_values:
return {f"{motor}.pos": random.uniform(-100, 100) for motor in self.motors}
else:
@@ -130,14 +124,10 @@ class MockRobot(Robot):
f"{motor}.pos": val for motor, val in zip(self.motors, self.config.static_values, strict=True)
}
@check_if_not_connected
def send_action(self, action: RobotAction) -> RobotAction:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
return action
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self._is_connected = False
tests/mocks/mock_teleop.py
+7 -16
View File
@@ -21,7 +21,7 @@ from typing import Any
from lerobot.processor import RobotAction
from lerobot.teleoperators import Teleoperator, TeleoperatorConfig
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
@TeleoperatorConfig.register_subclass("mock_teleop")
@@ -68,10 +68,8 @@ class MockTeleop(Teleoperator):
def is_connected(self) -> bool:
return self._is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self._is_connected = True
if calibrate:
self.calibrate()
@@ -80,19 +78,15 @@ class MockTeleop(Teleoperator):
def is_calibrated(self) -> bool:
return self._is_calibrated
@check_if_not_connected
def calibrate(self) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self._is_calibrated = True
def configure(self) -> None:
pass
@check_if_not_connected
def get_action(self) -> RobotAction:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
if self.config.random_values:
return {f"{motor}.pos": random.uniform(-100, 100) for motor in self.motors}
else:
@@ -100,12 +94,9 @@ class MockTeleop(Teleoperator):
f"{motor}.pos": val for motor, val in zip(self.motors, self.config.static_values, strict=True)
}
def send_feedback(self, feedback: dict[str, Any]) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
@check_if_not_connected
def send_feedback(self, feedback: dict[str, Any]) -> None: ...
@check_if_not_connected
def disconnect(self) -> None:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self._is_connected = False