mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-07 18:11:50 +00:00
Steven Palma
d576c59afb
* chore(robots): homogenize bi setups * feat(robots): split openarm mini into single and bi * refactor(robots): mixin for bi classes * docs: update docs
103 lines
3.5 KiB
Python
103 lines
3.5 KiB
Python
#!/usr/bin/env python
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# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from unittest.mock import MagicMock, patch
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import pytest
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from lerobot.teleoperators.bi_rebot_102_leader import BiRebot102Leader, BiRebot102LeaderConfig
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from lerobot.teleoperators.rebot_102_leader import (
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RebotArm102Leader,
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RebotArm102LeaderConfig,
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RebotArm102LeaderTeleopConfig,
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)
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_MODULE = "lerobot.teleoperators.rebot_102_leader.rebot_102_leader"
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def _make_bus_mock(joint_ids: dict[str, int]) -> MagicMock:
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bus = MagicMock(name="FashionStarServoMock")
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bus.ping.return_value = True
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def _sync_monitor(ids):
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# Report each servo at 5 degrees raw.
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monitors = {}
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for servo_id in ids:
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monitor = MagicMock()
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monitor.angle_deg = 5.0
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monitors[servo_id] = monitor
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return monitors
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bus.sync_monitor.side_effect = _sync_monitor
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return bus
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@pytest.fixture
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def leader():
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cfg = RebotArm102LeaderTeleopConfig(port="/dev/null")
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bus_mock = _make_bus_mock(cfg.joint_ids)
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with (
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patch(f"{_MODULE}.require_package", lambda *a, **kw: None),
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patch(f"{_MODULE}.FashionStarServo", return_value=bus_mock),
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):
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teleop = RebotArm102Leader(cfg)
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teleop.connect(calibrate=False)
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yield teleop
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if teleop.is_connected:
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teleop.disconnect()
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def test_action_features_match_joints():
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with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
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teleop = RebotArm102Leader(RebotArm102LeaderTeleopConfig(port="/dev/null"))
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assert set(teleop.action_features) == {f"{m}.pos" for m in teleop.motor_names}
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assert teleop.feedback_features == {}
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def test_connect_disconnect(leader):
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assert leader.is_connected
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leader.disconnect()
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assert not leader.is_connected
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def test_get_action_applies_direction_and_clamp(leader):
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action = leader.get_action()
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assert set(action) == {f"{m}.pos" for m in leader.motor_names}
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# shoulder_pan has direction -1, so a +5deg raw reading flips to -5deg.
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assert action["shoulder_pan.pos"] == pytest.approx(-5.0)
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# Every joint stays within its configured range.
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for motor, value in action.items():
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lo, hi = leader.config.joint_ranges[motor.removesuffix(".pos")]
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assert lo <= value <= hi
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def test_send_feedback_not_implemented(leader):
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with pytest.raises(NotImplementedError):
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leader.send_feedback({})
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def test_bimanual_prefixes_features():
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with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
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cfg = BiRebot102LeaderConfig(
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left_arm_config=RebotArm102LeaderConfig(port="/dev/null0"),
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right_arm_config=RebotArm102LeaderConfig(port="/dev/null1"),
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)
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teleop = BiRebot102Leader(cfg)
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assert any(k.startswith("left_") for k in teleop.action_features)
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assert any(k.startswith("right_") for k in teleop.action_features)
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assert "left_gripper.pos" in teleop.action_features
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assert "right_gripper.pos" in teleop.action_features
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