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"alicia_d_leader" is missing from teleop.type, and "teleop.directly_controls_robot" support is missing from lerobot-teleoperate #10

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"alicia_d_leader" is missing from teleop.type, and "teleop.directly_controls_robot" support is missing from lerobot-teleoperate #10

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c4a75eb
fix: add 'alicia_d_leader' to teleop.type.
linanw Jul 27, 2026
6616b31
fix: add '--teleop.directly_controls_robot' support for lerobot-teleo…
linanw Jul 27, 2026
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8 changes: 6 additions & 2 deletions src/lerobot/scripts/lerobot_teleoperate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,7 @@
from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
alicia_d_leader,
bi_so100_leader,
gamepad,
homunculus,
Expand Down Expand Up @@ -160,8 +161,11 @@ def teleop_loop(
# Process action for robot through pipeline
robot_action_to_send = robot_action_processor((teleop_action, obs))

# Send processed action to robot (robot_action_processor.to_output should return dict[str, Any])
_ = robot.send_action(robot_action_to_send)
# When the teleoperator controls the robot through a direct hardware
# connection, sending the action again from the computer would duplicate
# the command. Keep processing it for visualization, but skip transmission.
if not teleop.directly_controls_robot:
_ = robot.send_action(robot_action_to_send)

if display_data:
# Process robot observation through pipeline
Expand Down
22 changes: 20 additions & 2 deletions tests/test_control_robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from unittest.mock import patch
from unittest.mock import PropertyMock, patch

from lerobot.scripts.lerobot_calibrate import CalibrateConfig, calibrate
from lerobot.processor import make_default_processors
Expand All @@ -23,7 +23,7 @@
from lerobot.scripts.lerobot_teleoperate import TeleoperateConfig, teleoperate
from tests.fixtures.constants import DUMMY_REPO_ID
from tests.mocks.mock_robot import MockRobot, MockRobotConfig
from tests.mocks.mock_teleop import MockTeleopConfig
from tests.mocks.mock_teleop import MockTeleop, MockTeleopConfig


def test_calibrate():
Expand All @@ -43,6 +43,24 @@ def test_teleoperate():
teleoperate(cfg)


def test_teleoperate_skips_send_action_when_teleop_directly_controls_robot():
robot_cfg = MockRobotConfig()
teleop_cfg = MockTeleopConfig()
cfg = TeleoperateConfig(
robot=robot_cfg,
teleop=teleop_cfg,
teleop_time_s=0.1,
)

with (
patch.object(MockTeleop, "directly_controls_robot", new_callable=PropertyMock, return_value=True),
patch.object(MockRobot, "send_action", autospec=True) as mock_send_action,
):
teleoperate(cfg)

mock_send_action.assert_not_called()


def test_record_and_resume(tmp_path):
robot_cfg = MockRobotConfig()
teleop_cfg = MockTeleopConfig()
Expand Down