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This commit is contained in:
Simon Alibert
2025-06-04 11:39:19 +02:00
parent 40e0a311b5
commit fe43f93553
4 changed files with 1 additions and 167 deletions
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41
lerobot/common/motors/configs.py
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@@ -1,41 +0,0 @@
# 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 abc
from dataclasses import dataclass
import draccus
@dataclass
class MotorsBusConfig(draccus.ChoiceRegistry, abc.ABC):
@property
def type(self) -> str:
return self.get_choice_name(self.__class__)
@MotorsBusConfig.register_subclass("dynamixel")
@dataclass
class DynamixelMotorsBusConfig(MotorsBusConfig):
port: str
motors: dict[str, tuple[int, str]]
mock: bool = False
@MotorsBusConfig.register_subclass("feetech")
@dataclass
class FeetechMotorsBusConfig(MotorsBusConfig):
port: str
motors: dict[str, tuple[int, str]]
mock: bool = False

56
lerobot/common/motors/utils.py
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@@ -1,56 +0,0 @@
# 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 .configs import MotorsBusConfig
from .motors_bus import MotorsBus
def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig]) -> list[MotorsBus]:
motors_buses = {}
for key, cfg in motors_bus_configs.items():
if cfg.type == "dynamixel":
from .dynamixel import DynamixelMotorsBus
motors_buses[key] = DynamixelMotorsBus(cfg)
elif cfg.type == "feetech":
from lerobot.common.motors.feetech.feetech import FeetechMotorsBus
motors_buses[key] = FeetechMotorsBus(cfg)
else:
raise ValueError(f"The motor type '{cfg.type}' is not valid.")
return motors_buses
def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
if motor_type == "dynamixel":
from .configs import DynamixelMotorsBusConfig
from .dynamixel import DynamixelMotorsBus
config = DynamixelMotorsBusConfig(**kwargs)
return DynamixelMotorsBus(config)
elif motor_type == "feetech":
from feetech import FeetechMotorsBus
from .configs import FeetechMotorsBusConfig
config = FeetechMotorsBusConfig(**kwargs)
return FeetechMotorsBus(config)
else:
raise ValueError(f"The motor type '{motor_type}' is not valid.")

8
tests/conftest.py
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@@ -19,8 +19,7 @@ import traceback
import pytest import pytest
from serial import SerialException from serial import SerialException
from lerobot import available_cameras from tests.utils import DEVICE
from tests.utils import DEVICE, make_camera
# Import fixture modules as plugins # Import fixture modules as plugins
pytest_plugins = [ pytest_plugins = [
@@ -63,11 +62,6 @@ def _check_component_availability(component_type, available_components, make_com
return False return False
@pytest.fixture
def is_camera_available(camera_type):
return _check_component_availability(camera_type, available_cameras, make_camera)
@pytest.fixture @pytest.fixture
def patch_builtins_input(monkeypatch): def patch_builtins_input(monkeypatch):
def print_text(text=None): def print_text(text=None):

63
tests/utils.py
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@@ -21,9 +21,6 @@ import pytest
import torch import torch
from lerobot import available_cameras, available_motors, available_robots from lerobot import available_cameras, available_motors, available_robots
from lerobot.common.cameras import Camera
from lerobot.common.motors.motors_bus import MotorsBus
from lerobot.common.motors.utils import make_motors_bus as make_motors_bus_device
from lerobot.common.utils.import_utils import is_package_available from lerobot.common.utils.import_utils import is_package_available
DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu" DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu"
@@ -185,63 +182,3 @@ def require_package(package_name):
return wrapper return wrapper
return decorator return decorator
def require_camera(func):
@wraps(func)
def wrapper(*args, **kwargs):
# Access the pytest request context to get the is_camera_available fixture
request = kwargs.get("request")
camera_type = kwargs.get("camera_type")
mock = kwargs.get("mock")
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
if camera_type is None:
raise ValueError("The 'camera_type' must be an argument of the test function.")
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
if not mock and not request.getfixturevalue("is_camera_available"):
pytest.skip(f"A {camera_type} camera is not available.")
return func(*args, **kwargs)
return wrapper
# TODO(rcadene, aliberts): remove this dark pattern that overrides
def make_camera(camera_type: str, **kwargs) -> Camera:
if camera_type == "opencv":
camera_index = kwargs.pop("camera_index", OPENCV_CAMERA_INDEX)
kwargs["camera_index"] = camera_index
from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
config = OpenCVCameraConfig(**kwargs)
return OpenCVCamera(config)
elif camera_type == "intelrealsense":
serial_number = kwargs.pop("serial_number", INTELREALSENSE_SERIAL_NUMBER)
kwargs["serial_number"] = serial_number
from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
config = RealSenseCameraConfig(**kwargs)
return RealSenseCamera(config)
else:
raise ValueError(f"The camera type '{camera_type}' is not valid.")
# TODO(rcadene, aliberts): remove this dark pattern that overrides
def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
if motor_type == "dynamixel":
port = kwargs.pop("port", DYNAMIXEL_PORT)
motors = kwargs.pop("motors", DYNAMIXEL_MOTORS)
return make_motors_bus_device(motor_type, port=port, motors=motors, **kwargs)
elif motor_type == "feetech":
port = kwargs.pop("port", FEETECH_PORT)
motors = kwargs.pop("motors", FEETECH_MOTORS)
return make_motors_bus_device(motor_type, port=port, motors=motors, **kwargs)
else:
raise ValueError(f"The motor type '{motor_type}' is not valid.")