File size: 4,500 Bytes
0d80452 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 | #!/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 random
from dataclasses import dataclass, field
from functools import cached_property
from lerobot.cameras import CameraConfig, make_cameras_from_configs
from lerobot.motors.motors_bus import Motor, MotorNormMode
from lerobot.robots import Robot, RobotConfig
from lerobot.types import RobotAction, RobotObservation
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from tests.mocks.mock_motors_bus import MockMotorsBus
@RobotConfig.register_subclass("mock_robot")
@dataclass
class MockRobotConfig(RobotConfig):
n_motors: int = 3
cameras: dict[str, CameraConfig] = field(default_factory=dict)
random_values: bool = True
static_values: list[float] | None = None
calibrated: bool = True
def __post_init__(self):
if self.n_motors < 1:
raise ValueError(self.n_motors)
if self.random_values and self.static_values is not None:
raise ValueError("Choose either random values or static values")
if self.static_values is not None and len(self.static_values) != self.n_motors:
raise ValueError("Specify the same number of static values as motors")
if len(self.cameras) > 0:
raise NotImplementedError # TODO with the cameras refactor
class MockRobot(Robot):
"""Mock Robot to be used for testing."""
config_class = MockRobotConfig
name = "mock_robot"
def __init__(self, config: MockRobotConfig):
super().__init__(config)
self.config = config
self._is_connected = False
self._is_calibrated = config.calibrated
self.cameras = make_cameras_from_configs(config.cameras)
mock_motors = {}
for i in range(config.n_motors):
motor_name = f"motor_{i + 1}"
mock_motors[motor_name] = Motor(
id=i + 1,
model="model_1", # Use model_1 which exists in MockMotorsBus tables
norm_mode=MotorNormMode.RANGE_M100_100,
)
self.bus = MockMotorsBus("/dev/dummy-port", mock_motors)
# NOTE(fracapuano): The .motors attribute was used from the previous interface
self.motors = [f"motor_{i + 1}" for i in range(config.n_motors)]
@property
def _motors_ft(self) -> dict[str, type]:
return {f"{motor}.pos": float for motor in self.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._is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
self._is_connected = True
if calibrate:
self.calibrate()
@property
def is_calibrated(self) -> bool:
return self._is_calibrated
@check_if_not_connected
def calibrate(self) -> None:
self._is_calibrated = True
def configure(self) -> None:
pass
@check_if_not_connected
def get_observation(self) -> RobotObservation:
if self.config.random_values:
return {f"{motor}.pos": random.uniform(-100, 100) for motor in self.motors}
else:
return {
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:
return action
@check_if_not_connected
def disconnect(self) -> None:
self._is_connected = False
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