fix(tests) fixes for reachy2 tests; removing reachy2 references from the script

6 choose cameras in config

docs/source/_toctree.yml

@@ -41,8 +41,6 @@
 - sections:
   - local: notebooks
     title: Notebooks
-  - local: feetech
-    title: Updating Feetech Firmware
   title: "Resources"
 - sections:
   - local: contributing

docs/source/feetech.mdx

@@ -1,71 +0,0 @@
-# Feetech Motor Firmware Update
-
-This tutorial guides you through updating the firmware of Feetech motors using the official Feetech software.
-
-## Prerequisites
-
-- Windows computer (Feetech software is only available for Windows)
-- Feetech motor control board
-- USB cable to connect the control board to your computer
-- Feetech motors connected to the control board
-
-## Step 1: Download Feetech Software
-
-1. Visit the official Feetech software download page: [https://www.feetechrc.com/software.html](https://www.feetechrc.com/software.html)
-2. Download the latest version of the Feetech debugging software (FD)
-3. Install the software on your Windows computer
-
-## Step 2: Hardware Setup
-
-1. Connect your Feetech motors to the motor control board
-2. Connect the motor control board to your Windows computer via USB cable
-3. Ensure power is supplied to the motors
-
-## Step 3: Configure Connection
-
-1. Launch the Feetech debugging software
-2. Select the correct COM port from the port dropdown menu
-   - If unsure which port to use, check Windows Device Manager under "Ports (COM & LPT)"
-3. Set the appropriate baud rate (typically 1000000 for most Feetech motors)
-4. Click "Open" to establish communication with the control board
-
-## Step 4: Scan for Motors
-
-1. Once connected, click the "Search" button to detect all connected motors
-2. The software will automatically discover and list all motors on the bus
-3. Each motor will appear with its ID number
-
-## Step 5: Update Firmware
-
-For each motor you want to update:
-
-1. **Select the motor** from the list by clicking on it
-2. **Click on Upgrade tab**:
-3. **Click on Online button**:
-   - If an potential firmware update is found, it will be displayed in the box
-4. **Click on Upgrade button**:
-   - The update progress will be displayed
-
-## Step 6: Verify Update
-
-1. After the update completes, the software should automatically refresh the motor information
-2. Verify that the firmware version has been updated to the expected version
-
-## Important Notes
-
-⚠️ **Warning**: Do not disconnect power or USB during firmware updates, it will potentially brick the motor.
-
-## Bonus: Motor Debugging on Linux/macOS
-
-For debugging purposes only, you can use the open-source Feetech Debug Tool:
-
-- **Repository**: [FT_SCServo_Debug_Qt](https://github.com/CarolinePascal/FT_SCServo_Debug_Qt/tree/fix/port-search-timer)
-
-### Installation Instructions
-
-Follow the instructions in the repository to install the tool, for Ubuntu you can directly install it, for MacOS you need to build it from source.
-
-**Limitations:**
-
-- This tool is for debugging and parameter adjustment only
-- Firmware updates must still be done on Windows with official Feetech software

examples/aloha_calibrate.py

@@ -1,47 +0,0 @@
-# ------------------------------------------------------------
-
-# config_follower_right = ViperXConfig(
-#     port="/dev/tty.usbserial-FT891KBG",
-#     id="viperx_right",
-# )
-
-# follower_right = ViperX(config_follower_right)
-# follower_right.connect(calibrate=False)
-# follower_right.calibrate()
-# follower_right.disconnect()
-
-# ------------------------------------------------------------
-
-# config_leader_right = WidowXConfig(
-#     port="/dev/tty.usbserial-FT89FM77",
-#     id="widowx_right",
-# )
-
-# leader_right = WidowX(config_leader_right)
-# leader_right.connect(calibrate=False)
-# leader_right.calibrate()
-# leader_right.disconnect()
-
-# ------------------------------------------------------------
-
-# config_follower_left = ViperXConfig(
-#     port="/dev/tty.usbserial-FT89FM09",
-#     id="viperx_left",
-# )
-
-# follower_left = ViperX(config_follower_left)
-# follower_left.connect(calibrate=False)
-# follower_left.calibrate()
-# follower_left.disconnect()
-
-# ------------------------------------------------------------
-
-# config_leader_left = WidowXConfig(
-#     port="/dev/tty.usbserial-FT891KPN",
-#     id="widowx_left",
-# )
-
-# leader_left = WidowX(config_leader_left)
-# leader_left.connect(calibrate=False)
-# leader_left.calibrate()
-# leader_left.disconnect()

examples/aloha_record.py

@@ -1,172 +0,0 @@
-"""
-ALOHA Bimanual Recording Script
-
-This script records episodes using ALOHA dual-arm system (ViperX followers + WidowX leaders).
-
-Usage:
-1. New dataset: Set RESUME = False
-2. Resume/append: Set RESUME = True (will continue from existing episodes)
-
-The script will:
-- Record NUM_EPISODES new episodes
-- Show progress with total episode count
-- Push dataset to HuggingFace Hub when complete
-"""
-
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.utils import hw_to_dataset_features
-from lerobot.record import record_loop
-from lerobot.robots.aloha import Aloha, AlohaConfig
-from lerobot.teleoperators.aloha_teleop import AlohaTeleop, AlohaTeleopConfig
-from lerobot.utils.control_utils import (
-    init_keyboard_listener,
-    sanity_check_dataset_name,
-    sanity_check_dataset_robot_compatibility,
-)
-from lerobot.utils.utils import log_say
-from lerobot.utils.visualization_utils import _init_rerun
-
-# Recording configuration
-NUM_EPISODES = 0
-FPS = 30
-EPISODE_TIME_SEC = 200
-RESET_TIME_SEC = 30
-TASK_DESCRIPTION = "First put the Hugging Face t shirt with both arms in the box, then place the hat with the right arm in the box."
-REPO_ID = "pepijn223/aloha_box_2"
-RESUME = True  # Set to True to resume/append to existing dataset
-
-# Create camera configuration
-camera_config = {
-    "front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS),
-    "wrist_right": OpenCVCameraConfig(index_or_path=1, width=640, height=480, fps=FPS),
-    "wrist_left": OpenCVCameraConfig(index_or_path=2, width=640, height=480, fps=FPS),
-}
-
-# ALOHA Robot Configuration (dual ViperX followers)
-aloha_robot_config = AlohaConfig(
-    id="aloha",
-    left_arm_port="/dev/tty.usbserial-FT89FM09",
-    right_arm_port="/dev/tty.usbserial-FT891KBG",
-    left_arm_max_relative_target=20.0,
-    right_arm_max_relative_target=20.0,
-    left_arm_use_degrees=True,
-    right_arm_use_degrees=True,
-    cameras=camera_config,
-)
-
-# ALOHA Teleoperator Configuration (dual WidowX leaders)
-aloha_teleop_config = AlohaTeleopConfig(
-    id="aloha_teleop",
-    left_arm_port="/dev/tty.usbserial-FT891KPN",
-    right_arm_port="/dev/tty.usbserial-FT89FM77",
-    left_arm_gripper_motor="xl430-w250",
-    right_arm_gripper_motor="xc430-w150",
-    left_arm_use_degrees=True,
-    right_arm_use_degrees=True,
-)
-
-# Initialize the robot and teleoperator
-robot = Aloha(aloha_robot_config)
-teleop = AlohaTeleop(aloha_teleop_config)
-
-# Configure the dataset features
-action_features = hw_to_dataset_features(robot.action_features, "action")
-obs_features = hw_to_dataset_features(robot.observation_features, "observation")
-dataset_features = {**action_features, **obs_features}
-
-# Create or resume the dataset
-if RESUME:
-    print(f"Resuming existing dataset: {REPO_ID}")
-    dataset = LeRobotDataset(
-        repo_id=REPO_ID,
-        root=None,  # Use default root
-    )
-
-    # Start image writer for cameras
-    if hasattr(robot, "cameras") and len(robot.cameras) > 0:
-        dataset.start_image_writer(
-            num_processes=0,  # Use threads only
-            num_threads=4 * len(robot.cameras),  # 4 threads per camera
-        )
-
-    # Sanity check compatibility
-    sanity_check_dataset_robot_compatibility(dataset, robot, FPS, dataset_features)
-    print(f"Resumed dataset with {dataset.num_episodes} existing episodes")
-else:
-    print(f"Creating new dataset: {REPO_ID}")
-    # Sanity check dataset name
-    sanity_check_dataset_name(REPO_ID, None)
-
-    # Create new dataset
-    dataset = LeRobotDataset.create(
-        repo_id=REPO_ID,
-        fps=FPS,
-        features=dataset_features,
-        robot_type=robot.name,
-        use_videos=True,
-        image_writer_threads=4 * len(robot.cameras),  # 4 threads per camera
-    )
-
-# Initialize the keyboard listener and rerun visualization
-_, events = init_keyboard_listener()
-_init_rerun(session_name="aloha_recording")
-
-# Connect the robot and teleoperator
-robot.connect()
-teleop.connect()
-
-episode_idx = 0
-total_episodes_to_record = NUM_EPISODES
-existing_episodes = dataset.num_episodes if RESUME else 0
-
-while episode_idx < NUM_EPISODES and not events["stop_recording"]:
-    current_episode = existing_episodes + episode_idx + 1
-    log_say(f"Recording episode {current_episode} (batch: {episode_idx + 1}/{NUM_EPISODES})")
-
-    record_loop(
-        robot=robot,
-        events=events,
-        fps=FPS,
-        teleop=teleop,
-        dataset=dataset,
-        control_time_s=EPISODE_TIME_SEC,
-        single_task=TASK_DESCRIPTION,
-        display_data=True,
-    )
-
-    # Reset the environment if not stopping or re-recording
-    if not events["stop_recording"] and (episode_idx < NUM_EPISODES - 1 or events["rerecord_episode"]):
-        log_say("Reset the environment")
-        record_loop(
-            robot=robot,
-            events=events,
-            fps=FPS,
-            teleop=teleop,
-            control_time_s=RESET_TIME_SEC,
-            single_task=TASK_DESCRIPTION,
-            display_data=True,
-        )
-
-    if events["rerecord_episode"]:
-        log_say("Re-recording episode")
-        events["rerecord_episode"] = False
-        events["exit_early"] = False
-        dataset.clear_episode_buffer()
-        continue
-
-    dataset.save_episode()
-    episode_idx += 1
-
-# Clean up
-log_say("Stop recording")
-robot.disconnect()
-teleop.disconnect()
-
-# Summary
-final_episodes = dataset.num_episodes
-log_say(f"Dataset now contains {final_episodes} episodes total")
-
-# Push to hub
-dataset.push_to_hub()
-log_say(f"Dataset '{REPO_ID}' pushed to HuggingFace Hub")

examples/aloha_teleop.py

@@ -1,93 +0,0 @@
-import time
-
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.robots.viperx import ViperX, ViperXConfig
-from lerobot.teleoperators.widowx import WidowX, WidowXConfig
-from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
-
-camera_config = {
-    "front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=30),
-    "wrist_right": OpenCVCameraConfig(index_or_path=1, width=640, height=480, fps=30),
-    "wrist_left": OpenCVCameraConfig(index_or_path=2, width=640, height=480, fps=30),
-}
-
-config_follower_right = ViperXConfig(
-    port="/dev/tty.usbserial-FT891KBG",
-    id="viperx_right",
-    max_relative_target=10.0,  # increased from default 5.0 to 10.0
-    use_degrees=True,
-    cameras=camera_config,
-)
-
-config_leader_right = WidowXConfig(
-    port="/dev/tty.usbserial-FT89FM77",
-    id="widowx_right",
-    gripper_motor="xc430-w150",
-    use_degrees=True,
-)
-
-config_follower_left = ViperXConfig(
-    port="/dev/tty.usbserial-FT89FM09",
-    id="viperx_left",
-    max_relative_target=10.0,  # increased from default 5.0 to 10.0
-    use_degrees=True,
-)
-
-config_leader_left = WidowXConfig(
-    port="/dev/tty.usbserial-FT891KPN",
-    id="widowx_left",
-    gripper_motor="xl430-w250",
-    use_degrees=True,
-)
-
-_init_rerun(session_name="teleop")
-
-follower_right = ViperX(config_follower_right)
-follower_right.connect()
-
-leader_right = WidowX(config_leader_right)
-leader_right.connect()
-
-follower_left = ViperX(config_follower_left)
-follower_left.connect()
-
-leader_left = WidowX(config_leader_left)
-leader_left.connect()
-
-
-while True:
-    act_right = leader_right.get_action()
-    obs_right = follower_right.get_observation()
-
-    act_left = leader_left.get_action()
-    obs_left = follower_left.get_observation()
-
-    print("=" * 60)
-    print("ACTION (Leader Right):")
-    for key, value in act_right.items():
-        if key.endswith(".pos"):
-            print(f"  {key:20}: {value:8.3f}")
-
-    print("\nOBSERVATION (Follower Right):")
-    for key, value in obs_right.items():
-        if key.endswith(".pos"):
-            print(f"  {key:20}: {value:8.3f}")
-
-    print("=" * 60)
-    print("ACTION (Leader Left):")
-    for key, value in act_left.items():
-        if key.endswith(".pos"):
-            print(f"  {key:20}: {value:8.3f}")
-
-    print("\nOBSERVATION (Follower Left):")
-    for key, value in obs_left.items():
-        if key.endswith(".pos"):
-            print(f"  {key:20}: {value:8.3f}")
-    print("=" * 60)
-
-    log_rerun_data({**obs_right, **obs_left}, {**act_right, **act_left})
-
-    follower_right.send_action(act_right)
-    follower_left.send_action(act_left)
-
-    time.sleep(0.02)

src/lerobot/datasets/lerobot_dataset.py

@@ -825,8 +825,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
         """
         if not episode_data:
             episode_buffer = self.episode_buffer
-        else:
-            episode_buffer = episode_data
 
         validate_episode_buffer(episode_buffer, self.meta.total_episodes, self.features)
 

src/lerobot/record.py

@@ -209,14 +209,7 @@ def record_loop(
             (
                 t
                 for t in teleop
-                if isinstance(
-                    t,
-                    (
-                        so100_leader.SO100Leader,
-                        so101_leader.SO101Leader,
-                        koch_leader.KochLeader,
-                    ),
-                )
+                if isinstance(t, (so100_leader.SO100Leader, so101_leader.SO101Leader, koch_leader.KochLeader))
             ),
             None,
         )

src/lerobot/robots/aloha/__init__.py

@@ -1,4 +0,0 @@
-from .aloha import Aloha
-from .config_aloha import AlohaConfig
-
-__all__ = ["Aloha", "AlohaConfig"]

src/lerobot/robots/aloha/aloha.py

@@ -1,161 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 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 logging
-import time
-from functools import cached_property
-from typing import Any
-
-from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.robots.viperx import ViperX
-from lerobot.robots.viperx.config_viperx import ViperXConfig
-
-from ..robot import Robot
-from .config_aloha import AlohaConfig
-
-logger = logging.getLogger(__name__)
-
-
-class Aloha(Robot):
-    """
-    ALOHA Bimanual Robot System using dual ViperX follower arms.
-    Based on the ALOHA (A Low-cost Open-source Hardware System for Bimanual Teleoperation) design.
-    """
-
-    config_class = AlohaConfig
-    name = "aloha"
-
-    def __init__(self, config: AlohaConfig):
-        super().__init__(config)
-        self.config = config
-
-        left_arm_config = ViperXConfig(
-            id=f"{config.id}_left" if config.id else None,
-            calibration_dir=config.calibration_dir,
-            port=config.left_arm_port,
-            max_relative_target=config.left_arm_max_relative_target,
-            use_degrees=config.left_arm_use_degrees,
-            cameras={},
-        )
-
-        right_arm_config = ViperXConfig(
-            id=f"{config.id}_right" if config.id else None,
-            calibration_dir=config.calibration_dir,
-            port=config.right_arm_port,
-            max_relative_target=config.right_arm_max_relative_target,
-            use_degrees=config.right_arm_use_degrees,
-            cameras={},
-        )
-
-        self.left_arm = ViperX(left_arm_config)
-        self.right_arm = ViperX(right_arm_config)
-        self.cameras = make_cameras_from_configs(config.cameras)
-
-    @property
-    def _motors_ft(self) -> dict[str, type]:
-        return {f"left_{motor}.pos": float for motor in self.left_arm.bus.motors} | {
-            f"right_{motor}.pos": float for motor in self.right_arm.bus.motors
-        }
-
-    @property
-    def _cameras_ft(self) -> dict[str, tuple]:
-        return {
-            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
-        }
-
-    @cached_property
-    def observation_features(self) -> dict[str, type | tuple]:
-        return {**self._motors_ft, **self._cameras_ft}
-
-    @cached_property
-    def action_features(self) -> dict[str, type]:
-        return self._motors_ft
-
-    @property
-    def is_connected(self) -> bool:
-        return (
-            self.left_arm.bus.is_connected
-            and self.right_arm.bus.is_connected
-            and all(cam.is_connected for cam in self.cameras.values())
-        )
-
-    def connect(self, calibrate: bool = True) -> None:
-        self.left_arm.connect(calibrate)
-        self.right_arm.connect(calibrate)
-
-        for cam in self.cameras.values():
-            cam.connect()
-
-    @property
-    def is_calibrated(self) -> bool:
-        return self.left_arm.is_calibrated and self.right_arm.is_calibrated
-
-    def calibrate(self) -> None:
-        self.left_arm.calibrate()
-        self.right_arm.calibrate()
-
-    def configure(self) -> None:
-        self.left_arm.configure()
-        self.right_arm.configure()
-
-    def setup_motors(self) -> None:
-        self.left_arm.setup_motors()
-        self.right_arm.setup_motors()
-
-    def get_observation(self) -> dict[str, Any]:
-        obs_dict = {}
-
-        # Add "left_" prefix
-        left_obs = self.left_arm.get_observation()
-        obs_dict.update({f"left_{key}": value for key, value in left_obs.items()})
-
-        # Add "right_" prefix
-        right_obs = self.right_arm.get_observation()
-        obs_dict.update({f"right_{key}": value for key, value in right_obs.items()})
-
-        for cam_key, cam in self.cameras.items():
-            start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
-            dt_ms = (time.perf_counter() - start) * 1e3
-            logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
-
-        return obs_dict
-
-    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
-        # Remove "left_" prefix
-        left_action = {
-            key.removeprefix("left_"): value for key, value in action.items() if key.startswith("left_")
-        }
-        # Remove "right_" prefix
-        right_action = {
-            key.removeprefix("right_"): value for key, value in action.items() if key.startswith("right_")
-        }
-
-        send_action_left = self.left_arm.send_action(left_action)
-        send_action_right = self.right_arm.send_action(right_action)
-
-        # Add prefixes back
-        prefixed_send_action_left = {f"left_{key}": value for key, value in send_action_left.items()}
-        prefixed_send_action_right = {f"right_{key}": value for key, value in send_action_right.items()}
-
-        return {**prefixed_send_action_left, **prefixed_send_action_right}
-
-    def disconnect(self):
-        self.left_arm.disconnect()
-        self.right_arm.disconnect()
-
-        for cam in self.cameras.values():
-            cam.disconnect()

src/lerobot/robots/aloha/config_aloha.py

@@ -1,39 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 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 dataclasses import dataclass, field
-
-from lerobot.cameras import CameraConfig
-
-from ..config import RobotConfig
-
-
-@RobotConfig.register_subclass("aloha")
-@dataclass
-class AlohaConfig(RobotConfig):
-    left_arm_port: str
-    right_arm_port: str
-
-    # Optional parameters for left arm (ViperX)
-    left_arm_max_relative_target: float | dict[str, float] = 20.0
-    left_arm_use_degrees: bool = True
-
-    # Optional parameters for right arm (ViperX)
-    right_arm_max_relative_target: float | dict[str, float] = 20.0
-    right_arm_use_degrees: bool = True
-
-    # cameras (shared between both arms)
-    cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/bi_so100_follower/config_bi_so100_follower.py

@@ -29,10 +29,10 @@ class BiSO100FollowerConfig(RobotConfig):
 
     # Optional
     left_arm_disable_torque_on_disconnect: bool = True
-    left_arm_max_relative_target: float | dict[str, float] | None = None
+    left_arm_max_relative_target: int | None = None
     left_arm_use_degrees: bool = False
     right_arm_disable_torque_on_disconnect: bool = True
-    right_arm_max_relative_target: float | dict[str, float] | None = None
+    right_arm_max_relative_target: int | None = None
     right_arm_use_degrees: bool = False
 
     # cameras (shared between both arms)

src/lerobot/robots/hope_jr/config_hope_jr.py

@@ -44,8 +44,8 @@ class HopeJrArmConfig(RobotConfig):
     disable_torque_on_disconnect: bool = True
 
     # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None
 
     cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/koch_follower/config_koch_follower.py

@@ -28,9 +28,9 @@ class KochFollowerConfig(RobotConfig):
     disable_torque_on_disconnect: bool = True
 
     # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None
 
     # cameras
     cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/koch_follower/koch_follower.py

@@ -110,7 +110,6 @@ class KochFollower(Robot):
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        self.bus.disable_torque()
         if self.calibration:
             # Calibration file exists, ask user whether to use it or run new calibration
             user_input = input(
@@ -121,6 +120,7 @@ class KochFollower(Robot):
                 self.bus.write_calibration(self.calibration)
                 return
         logger.info(f"\nRunning calibration of {self}")
+        self.bus.disable_torque()
         for motor in self.bus.motors:
             self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
 

src/lerobot/robots/lekiwi/config_lekiwi.py

@@ -39,9 +39,9 @@ class LeKiwiConfig(RobotConfig):
     disable_torque_on_disconnect: bool = True
 
     # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None
 
     cameras: dict[str, CameraConfig] = field(default_factory=lekiwi_cameras_config)
 

src/lerobot/robots/so100_follower/config_so100_follower.py

@@ -30,9 +30,9 @@ class SO100FollowerConfig(RobotConfig):
     disable_torque_on_disconnect: bool = True
 
     # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None
 
     # cameras
     cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/so100_follower/so100_follower.py

@@ -161,11 +161,6 @@ class SO100Follower(Robot):
                 self.bus.write("I_Coefficient", motor, 0)
                 self.bus.write("D_Coefficient", motor, 32)
 
-                if motor == "gripper":
-                    self.bus.write("Max_Torque_Limit", motor, 500)  # 50% of max torque to avoid burnout
-                    self.bus.write("Protection_Current", motor, 250)  # 50% of max current to avoid burnout
-                    self.bus.write("Overload_Torque", motor, 25)  # 25% torque when overloaded
-
     def setup_motors(self) -> None:
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")

src/lerobot/robots/so101_follower/config_so101_follower.py

@@ -30,9 +30,9 @@ class SO101FollowerConfig(RobotConfig):
     disable_torque_on_disconnect: bool = True
 
     # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None
 
     # cameras
     cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/so101_follower/so101_follower.py

@@ -157,13 +157,6 @@ class SO101Follower(Robot):
                 self.bus.write("I_Coefficient", motor, 0)
                 self.bus.write("D_Coefficient", motor, 32)
 
-                if motor == "gripper":
-                    self.bus.write(
-                        "Max_Torque_Limit", motor, 500
-                    )  # 50% of the max torque limit to avoid burnout
-                    self.bus.write("Protection_Current", motor, 250)  # 50% of max current to avoid burnout
-                    self.bus.write("Overload_Torque", motor, 25)  # 25% torque when overloaded
-
     def setup_motors(self) -> None:
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")

src/lerobot/robots/stretch3/configuration_stretch3.py

@@ -24,6 +24,11 @@ from ..config import RobotConfig
 @RobotConfig.register_subclass("stretch3")
 @dataclass
 class Stretch3RobotConfig(RobotConfig):
+    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None
+
     # cameras
     cameras: dict[str, CameraConfig] = field(
         default_factory=lambda: {

src/lerobot/robots/utils.py

@@ -74,7 +74,7 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
 
 
 def ensure_safe_goal_position(
-    goal_present_pos: dict[str, tuple[float, float]], max_relative_target: float | dict[str, float]
+    goal_present_pos: dict[str, tuple[float, float]], max_relative_target: float | dict[float]
 ) -> dict[str, float]:
     """Caps relative action target magnitude for safety."""
 

src/lerobot/robots/viperx/config_viperx.py

@@ -28,21 +28,18 @@ class ViperXConfig(RobotConfig):
 
     # /!\ FOR SAFETY, READ THIS /!\
     # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
     # For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
     # When you feel more confident with teleoperation or running the policy, you can extend
     # this safety limit and even removing it by setting it to `null`.
     # Also, everything is expected to work safely out-of-the-box, but we highly advise to
     # first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
     # then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
-    max_relative_target: float | dict[str, float] = 5.0
+    max_relative_target: int | None = 5
 
     # cameras
     cameras: dict[str, CameraConfig] = field(default_factory=dict)
     # Troubleshooting: If one of your IntelRealSense cameras freeze during
     # data recording due to bandwidth limit, you might need to plug the camera
     # on another USB hub or PCIe card.
-
-    # Set to `True` for backward compatibility with previous policies/dataset
-    use_degrees: bool = False

src/lerobot/robots/viperx/viperx.py

@@ -18,6 +18,7 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras.utils import make_cameras_from_configs
+from lerobot.constants import OBS_STATE
 from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import (
@@ -44,23 +45,22 @@ class ViperX(Robot):
         self,
         config: ViperXConfig,
     ):
+        raise NotImplementedError
         super().__init__(config)
         self.config = config
-        norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
         self.bus = DynamixelMotorsBus(
             port=self.config.port,
             motors={
-                "waist": Motor(1, "xm540-w270", norm_mode_body),
-                "shoulder": Motor(2, "xm540-w270", norm_mode_body),
-                "shoulder_shadow": Motor(3, "xm540-w270", norm_mode_body),
-                "elbow": Motor(4, "xm540-w270", norm_mode_body),
-                "elbow_shadow": Motor(5, "xm540-w270", norm_mode_body),
-                "forearm_roll": Motor(6, "xm540-w270", norm_mode_body),
-                "wrist_angle": Motor(7, "xm540-w270", norm_mode_body),
-                "wrist_rotate": Motor(8, "xm430-w350", norm_mode_body),
+                "waist": Motor(1, "xm540-w270", MotorNormMode.RANGE_M100_100),
+                "shoulder": Motor(2, "xm540-w270", MotorNormMode.RANGE_M100_100),
+                "shoulder_shadow": Motor(3, "xm540-w270", MotorNormMode.RANGE_M100_100),
+                "elbow": Motor(4, "xm540-w270", MotorNormMode.RANGE_M100_100),
+                "elbow_shadow": Motor(5, "xm540-w270", MotorNormMode.RANGE_M100_100),
+                "forearm_roll": Motor(6, "xm540-w270", MotorNormMode.RANGE_M100_100),
+                "wrist_angle": Motor(7, "xm540-w270", MotorNormMode.RANGE_M100_100),
+                "wrist_rotate": Motor(8, "xm430-w350", MotorNormMode.RANGE_M100_100),
                 "gripper": Motor(9, "xm430-w350", MotorNormMode.RANGE_0_100),
             },
-            calibration=self.calibration,
         )
         self.cameras = make_cameras_from_configs(config.cameras)
 
@@ -96,9 +96,6 @@ class ViperX(Robot):
 
         self.bus.connect()
         if not self.is_calibrated and calibrate:
-            logger.info(
-                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
-            )
             self.calibrate()
 
         for cam in self.cameras.values():
@@ -112,24 +109,16 @@ class ViperX(Robot):
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        self.bus.disable_torque()
-        if self.calibration:
-            # Calibration file exists, ask user whether to use it or run new calibration
-            user_input = input(
-                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
-            )
-            if user_input.strip().lower() != "c":
-                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
-                self.bus.write_calibration(self.calibration)
-                return
+        raise NotImplementedError  # TODO(aliberts): adapt code below (copied from koch
         logger.info(f"\nRunning calibration of {self}")
+        self.bus.disable_torque()
         for motor in self.bus.motors:
             self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
 
-        input(f"Move {self} to the middle of its range of motion and press ENTER....")
+        input("Move robot to the middle of its range of motion and press ENTER....")
         homing_offsets = self.bus.set_half_turn_homings()
 
-        full_turn_motors = ["shoulder", "forearm_roll", "wrist_rotate"]
+        full_turn_motors = ["shoulder_pan", "wrist_roll"]
         unknown_range_motors = [motor for motor in self.bus.motors if motor not in full_turn_motors]
         print(
             f"Move all joints except {full_turn_motors} sequentially through their entire "
@@ -164,23 +153,33 @@ class ViperX(Robot):
             self.bus.write("Secondary_ID", "shoulder_shadow", 2)
             self.bus.write("Secondary_ID", "elbow_shadow", 4)
 
-            for motor in self.bus.motors:
-                self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
+            # Set a velocity limit of 131 as advised by Trossen Robotics
+            # TODO(aliberts): remove as it's actually useless in position control
+            self.bus.write("Velocity_Limit", 131)
+
+            # Use 'extended position mode' for all motors except gripper, because in joint mode the servos
+            # can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while assembling
+            # the arm, you could end up with a servo with a position 0 or 4095 at a crucial point.
+            # See: https://emanual.robotis.com/docs/en/dxl/x/x_series/#operating-mode11
+            for motor in self.bus.motors:
+                if motor != "gripper":
+                    self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
 
-            # TODO(pepijn): Re enable this
             # Use 'position control current based' for follower gripper to be limited by the limit of the
             # current. It can grasp an object without forcing too much even tho, it's goal position is a
             # complete grasp (both gripper fingers are ordered to join and reach a touch).
-            # self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
+            self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
 
     def get_observation(self) -> dict[str, Any]:
         """The returned observations do not have a batch dimension."""
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")
 
+        obs_dict = {}
+
         # Read arm position
         start = time.perf_counter()
-        obs_dict = self.bus.sync_read("Present_Position")
+        obs_dict[OBS_STATE] = self.bus.sync_read("Present_Position")
         obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
         dt_ms = (time.perf_counter() - start) * 1e3
         logger.debug(f"{self} read state: {dt_ms:.1f}ms")

src/lerobot/scripts/server/robot_client.py

@@ -302,6 +302,11 @@ class RobotClient:
 
                     self.logger.debug(f"Current latest action: {latest_action}")
 
+                    # Get queue state before changes
+                    old_size, old_timesteps = self._inspect_action_queue()
+                    if not old_timesteps:
+                        old_timesteps = [latest_action]  # queue was empty
+
                     # Get queue state before changes
                     old_size, old_timesteps = self._inspect_action_queue()
                     if not old_timesteps:

src/lerobot/teleoperators/aloha_teleop/__init__.py

@@ -1,4 +0,0 @@
-from .aloha_teleop import AlohaTeleop
-from .config_aloha_teleop import AlohaTeleopConfig
-
-__all__ = ["AlohaTeleop", "AlohaTeleopConfig"]

src/lerobot/teleoperators/aloha_teleop/aloha_teleop.py

@@ -1,125 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 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 logging
-from functools import cached_property
-
-from lerobot.teleoperators.widowx.config_widowx import WidowXConfig
-from lerobot.teleoperators.widowx.widowx import WidowX
-
-from ..teleoperator import Teleoperator
-from .config_aloha_teleop import AlohaTeleopConfig
-
-logger = logging.getLogger(__name__)
-
-
-class AlohaTeleop(Teleoperator):
-    """
-    ALOHA Bimanual Teleoperator System using dual WidowX leader arms.
-    Based on the ALOHA (A Low-cost Open-source Hardware System for Bimanual Teleoperation) design.
-    """
-
-    config_class = AlohaTeleopConfig
-    name = "aloha_teleop"
-
-    def __init__(self, config: AlohaTeleopConfig):
-        super().__init__(config)
-        self.config = config
-
-        left_arm_config = WidowXConfig(
-            id=f"{config.id}_left" if config.id else None,
-            calibration_dir=config.calibration_dir,
-            port=config.left_arm_port,
-            gripper_motor=config.left_arm_gripper_motor,
-            use_degrees=config.left_arm_use_degrees,
-        )
-
-        right_arm_config = WidowXConfig(
-            id=f"{config.id}_right" if config.id else None,
-            calibration_dir=config.calibration_dir,
-            port=config.right_arm_port,
-            gripper_motor=config.right_arm_gripper_motor,
-            use_degrees=config.right_arm_use_degrees,
-        )
-
-        self.left_arm = WidowX(left_arm_config)
-        self.right_arm = WidowX(right_arm_config)
-
-    @cached_property
-    def action_features(self) -> dict[str, type]:
-        return {f"left_{motor}.pos": float for motor in self.left_arm.bus.motors} | {
-            f"right_{motor}.pos": float for motor in self.right_arm.bus.motors
-        }
-
-    @cached_property
-    def feedback_features(self) -> dict[str, type]:
-        return {}
-
-    @property
-    def is_connected(self) -> bool:
-        return self.left_arm.is_connected and self.right_arm.is_connected
-
-    def connect(self, calibrate: bool = True) -> None:
-        self.left_arm.connect(calibrate)
-        self.right_arm.connect(calibrate)
-
-    @property
-    def is_calibrated(self) -> bool:
-        return self.left_arm.is_calibrated and self.right_arm.is_calibrated
-
-    def calibrate(self) -> None:
-        self.left_arm.calibrate()
-        self.right_arm.calibrate()
-
-    def configure(self) -> None:
-        self.left_arm.configure()
-        self.right_arm.configure()
-
-    def setup_motors(self) -> None:
-        self.left_arm.setup_motors()
-        self.right_arm.setup_motors()
-
-    def get_action(self) -> dict[str, float]:
-        action_dict = {}
-
-        # Add "left_" prefix
-        left_action = self.left_arm.get_action()
-        action_dict.update({f"left_{key}": value for key, value in left_action.items()})
-
-        # Add "right_" prefix
-        right_action = self.right_arm.get_action()
-        action_dict.update({f"right_{key}": value for key, value in right_action.items()})
-
-        return action_dict
-
-    def send_feedback(self, feedback: dict[str, float]) -> None:
-        # Remove "left_" prefix
-        left_feedback = {
-            key.removeprefix("left_"): value for key, value in feedback.items() if key.startswith("left_")
-        }
-        # Remove "right_" prefix
-        right_feedback = {
-            key.removeprefix("right_"): value for key, value in feedback.items() if key.startswith("right_")
-        }
-
-        if left_feedback:
-            self.left_arm.send_feedback(left_feedback)
-        if right_feedback:
-            self.right_arm.send_feedback(right_feedback)
-
-    def disconnect(self) -> None:
-        self.left_arm.disconnect()
-        self.right_arm.disconnect()

src/lerobot/teleoperators/aloha_teleop/config_aloha_teleop.py

@@ -1,34 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 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 dataclasses import dataclass
-
-from ..config import TeleoperatorConfig
-
-
-@TeleoperatorConfig.register_subclass("aloha_teleop")
-@dataclass
-class AlohaTeleopConfig(TeleoperatorConfig):
-    left_arm_port: str
-    right_arm_port: str
-
-    # Parameters for left arm (WidowX)
-    left_arm_gripper_motor: str = "xl430-w250"
-    left_arm_use_degrees: bool = True
-
-    # Parameters for right arm (WidowX)
-    right_arm_gripper_motor: str = "xc430-w150"
-    right_arm_use_degrees: bool = True

src/lerobot/teleoperators/koch_leader/koch_leader.py

@@ -88,7 +88,6 @@ class KochLeader(Teleoperator):
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        self.bus.disable_torque()
         if self.calibration:
             # Calibration file exists, ask user whether to use it or run new calibration
             user_input = input(
@@ -99,6 +98,7 @@ class KochLeader(Teleoperator):
                 self.bus.write_calibration(self.calibration)
                 return
         logger.info(f"\nRunning calibration of {self}")
+        self.bus.disable_torque()
         for motor in self.bus.motors:
             self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
 

src/lerobot/teleoperators/widowx/config_widowx.py

@@ -23,7 +23,3 @@ from ..config import TeleoperatorConfig
 @dataclass
 class WidowXConfig(TeleoperatorConfig):
     port: str  # Port to connect to the arm
-
-    gripper_motor: str = "xl430-w250"  # This could be xc430-w150 or xl430-w250
-
-    use_degrees: bool = False

src/lerobot/teleoperators/widowx/widowx.py

@@ -20,6 +20,7 @@ import time
 from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import (
+    DriveMode,
     DynamixelMotorsBus,
     OperatingMode,
 )
@@ -39,27 +40,22 @@ class WidowX(Teleoperator):
     name = "widowx"
 
     def __init__(self, config: WidowXConfig):
+        raise NotImplementedError
         super().__init__(config)
         self.config = config
-        norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
         self.bus = DynamixelMotorsBus(
             port=self.config.port,
             motors={
-                "waist": Motor(1, "xm430-w350", norm_mode_body),
-                "shoulder": Motor(2, "xm430-w350", norm_mode_body),
-                "shoulder_shadow": Motor(3, "xm430-w350", norm_mode_body),
-                "elbow": Motor(4, "xm430-w350", norm_mode_body),
-                "elbow_shadow": Motor(5, "xm430-w350", norm_mode_body),
-                "forearm_roll": Motor(6, "xm430-w350", norm_mode_body),
-                "wrist_angle": Motor(7, "xm430-w350", norm_mode_body),
-                "wrist_rotate": Motor(
-                    8, "xm430-w350", norm_mode_body
-                ),  # This could be xl430-w250 or xm430-w350
-                "gripper": Motor(
-                    9, self.config.gripper_motor, MotorNormMode.RANGE_0_100
-                ),  # This could be xc430-w150 or xl430-w250
+                "waist": Motor(1, "xm430-w350", MotorNormMode.RANGE_M100_100),
+                "shoulder": Motor(2, "xm430-w350", MotorNormMode.RANGE_M100_100),
+                "shoulder_shadow": Motor(3, "xm430-w350", MotorNormMode.RANGE_M100_100),
+                "elbow": Motor(4, "xm430-w350", MotorNormMode.RANGE_M100_100),
+                "elbow_shadow": Motor(5, "xm430-w350", MotorNormMode.RANGE_M100_100),
+                "forearm_roll": Motor(6, "xm430-w350", MotorNormMode.RANGE_M100_100),
+                "wrist_angle": Motor(7, "xm430-w350", MotorNormMode.RANGE_M100_100),
+                "wrist_rotate": Motor(8, "xl430-w250", MotorNormMode.RANGE_M100_100),
+                "gripper": Motor(9, "xc430-w150", MotorNormMode.RANGE_0_100),
             },
-            calibration=self.calibration,
         )
 
     @property
@@ -80,9 +76,6 @@ class WidowX(Teleoperator):
 
         self.bus.connect()
         if not self.is_calibrated and calibrate:
-            logger.info(
-                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
-            )
             self.calibrate()
 
         self.configure()
@@ -93,27 +86,19 @@ class WidowX(Teleoperator):
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        self.bus.disable_torque()
-        if self.calibration:
-            # Calibration file exists, ask user whether to use it or run new calibration
-            user_input = input(
-                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
-            )
-            if user_input.strip().lower() != "c":
-                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
-                self.bus.write_calibration(self.calibration)
-                return
+        raise NotImplementedError  # TODO(aliberts): adapt code below (copied from koch)
         logger.info(f"\nRunning calibration of {self}")
+        self.bus.disable_torque()
         for motor in self.bus.motors:
             self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
 
-        # self.bus.write("Drive_Mode", "el", DriveMode.INVERTED.value)
-        # drive_modes = {motor: 1 if motor == ["elbow_shadow", "shoulder_shadow"] else 0 for motor in self.bus.motors}
+        self.bus.write("Drive_Mode", "elbow_flex", DriveMode.INVERTED.value)
+        drive_modes = {motor: 1 if motor == "elbow_flex" else 0 for motor in self.bus.motors}
 
-        input(f"Move {self} to the middle of its range of motion and press ENTER....")
+        input("Move robot to the middle of its range of motion and press ENTER....")
         homing_offsets = self.bus.set_half_turn_homings()
 
-        full_turn_motors = ["shoulder", "forearm_roll", "wrist_rotate"]
+        full_turn_motors = ["shoulder_pan", "wrist_roll"]
         unknown_range_motors = [motor for motor in self.bus.motors if motor not in full_turn_motors]
         print(
             f"Move all joints except {full_turn_motors} sequentially through their "
@@ -128,7 +113,7 @@ class WidowX(Teleoperator):
         for motor, m in self.bus.motors.items():
             self.calibration[motor] = MotorCalibration(
                 id=m.id,
-                drive_mode=0,
+                drive_mode=drive_modes[motor],
                 homing_offset=homing_offsets[motor],
                 range_min=range_mins[motor],
                 range_max=range_maxes[motor],
@@ -148,22 +133,6 @@ class WidowX(Teleoperator):
         self.bus.write("Secondary_ID", "shoulder_shadow", 2)
         self.bus.write("Secondary_ID", "elbow_shadow", 4)
 
-        for motor in self.bus.motors:
-            self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
-
-        # TODO(pepijn): Re enable this
-        # Use 'position control current based' for gripper to be limited by the limit of the current.
-        # For the follower gripper, it means it can grasp an object without forcing too much even tho,
-        # its goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
-        # For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
-        # to make it move, and it will move back to its original target position when we release the force.
-        # self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
-        # Set gripper's goal pos in current position mode so that we can use it as a trigger.
-        # self.bus.enable_torque("gripper")
-
-        if self.is_calibrated:
-            self.bus.write("Goal_Position", "gripper", self.config.gripper_open_pos)
-
     def get_action(self) -> dict[str, float]:
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")

tests/cameras/test_reachy2_camera.py

@@ -23,6 +23,8 @@ import pytest
 from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
 from lerobot.errors import DeviceNotConnectedError
 
+pytest.importorskip("reachy2_sdk")
+
 PARAMS = [
     ("teleop", "left"),
     ("teleop", "right"),

tests/conftest.py

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

tests/plugins/reachy2_sdk.py

@@ -1,30 +0,0 @@
-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

@@ -51,6 +51,8 @@ PARAMS = [
     {"with_left_teleop_camera": False, "with_torso_camera": True},
 ]
 
+pytest.importorskip("reachy2_sdk")
+
 
 def _make_reachy2_sdk_mock():
     class JointSpy:

tests/teleoperators/test_reachy2_teleoperator.py

@@ -28,6 +28,8 @@ from lerobot.teleoperators.reachy2_teleoperator import (
     Reachy2TeleoperatorConfig,
 )
 
+pytest.importorskip("reachy2_sdk")
+
 # {lerobot_keys: reachy2_sdk_keys}
 REACHY2_JOINTS = {
     **REACHY2_NECK_JOINTS,