Merge branch 'main' into refactor/lerobot_train_rabc

tests/cameras/test_reachy2_camera.py

@@ -20,6 +20,8 @@ from unittest.mock import MagicMock, patch
 import numpy as np
 import pytest
 
+pytest.importorskip("reachy2_sdk")
+
 from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
 from lerobot.utils.errors import DeviceNotConnectedError
 
@@ -127,24 +129,12 @@ def test_async_read(camera):
     try:
         img = camera.async_read()
 
-        assert camera.thread is not None
-        assert camera.thread.is_alive()
         assert isinstance(img, np.ndarray)
     finally:
         if camera.is_connected:
             camera.disconnect()
 
 
-def test_async_read_timeout(camera):
-    camera.connect()
-    try:
-        with pytest.raises(TimeoutError):
-            camera.async_read(timeout_ms=0)
-    finally:
-        if camera.is_connected:
-            camera.disconnect()
-
-
 def test_read_before_connect(camera):
     with pytest.raises(DeviceNotConnectedError):
         _ = camera.read()

tests/conftest.py

@@ -28,7 +28,6 @@ pytest_plugins = [
     "tests.fixtures.files",
     "tests.fixtures.hub",
     "tests.fixtures.optimizers",
-    "tests.plugins.reachy2_sdk",
 ]
 
 

tests/mocks/mock_robot.py

@@ -17,10 +17,10 @@
 import random
 from dataclasses import dataclass, field
 from functools import cached_property
-from typing import Any
 
 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 tests.mocks.mock_motors_bus import MockMotorsBus
@@ -119,7 +119,7 @@ class MockRobot(Robot):
     def configure(self) -> None:
         pass
 
-    def get_observation(self) -> dict[str, Any]:
+    def get_observation(self) -> RobotObservation:
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")
 
@@ -130,7 +130,7 @@ class MockRobot(Robot):
                 f"{motor}.pos": val for motor, val in zip(self.motors, self.config.static_values, strict=True)
             }
 
-    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
+    def send_action(self, action: RobotAction) -> RobotAction:
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")
 

tests/mocks/mock_teleop.py

@@ -19,6 +19,7 @@ from dataclasses import dataclass
 from functools import cached_property
 from typing import Any
 
+from lerobot.processor import RobotAction
 from lerobot.teleoperators import Teleoperator, TeleoperatorConfig
 from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
@@ -88,7 +89,7 @@ class MockTeleop(Teleoperator):
     def configure(self) -> None:
         pass
 
-    def get_action(self) -> dict[str, Any]:
+    def get_action(self) -> RobotAction:
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")
 

tests/plugins/reachy2_sdk.py

@@ -1,46 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 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.
-
-import sys
-import types
-from unittest.mock import MagicMock
-
-
-def _install_reachy2_sdk_stub():
-    sdk = types.ModuleType("reachy2_sdk")
-    sdk.__path__ = []
-    sdk.ReachySDK = MagicMock(name="ReachySDK")
-
-    media = types.ModuleType("reachy2_sdk.media")
-    media.__path__ = []
-    camera = types.ModuleType("reachy2_sdk.media.camera")
-    camera.CameraView = MagicMock(name="CameraView")
-    camera_manager = types.ModuleType("reachy2_sdk.media.camera_manager")
-    camera_manager.CameraManager = MagicMock(name="CameraManager")
-
-    sdk.media = media
-    media.camera = camera
-    media.camera_manager = camera_manager
-
-    # Register in sys.modules
-    sys.modules.setdefault("reachy2_sdk", sdk)
-    sys.modules.setdefault("reachy2_sdk.media", media)
-    sys.modules.setdefault("reachy2_sdk.media.camera", camera)
-    sys.modules.setdefault("reachy2_sdk.media.camera_manager", camera_manager)
-
-
-def pytest_sessionstart(session):
-    _install_reachy2_sdk_stub()

tests/robots/test_reachy2.py

@@ -19,6 +19,8 @@ from unittest.mock import MagicMock, patch
 import numpy as np
 import pytest
 
+pytest.importorskip("reachy2_sdk")
+
 from lerobot.robots.reachy2 import (
     REACHY2_ANTENNAS_JOINTS,
     REACHY2_L_ARM_JOINTS,