Add mock robot & teleop

lerobot/common/cameras/__init__.py

@@ -1,4 +1,3 @@
 from .camera import Camera
 from .configs import CameraConfig
-
-__all__ = ["Camera", "CameraConfig"]
+from .utils import make_cameras_from_configs

lerobot/common/robots/utils.py

@@ -57,6 +57,10 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
         from .viperx import ViperX
 
         return ViperX(config)
+    elif config.type == "mock_robot":
+        from tests.mocks.mock_robot import MockRobot
+
+        return MockRobot(config)
     else:
         raise ValueError(config.type)
 

lerobot/common/teleoperators/utils.py

@@ -23,5 +23,9 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .widowx import WidowX
 
         return WidowX(config)
+    elif config.type == "mock_teleop":
+        from tests.mocks.mock_teleop import MockTeleop
+
+        return MockTeleop(config)
     else:
         raise ValueError(config.type)