Acceptance¶
v1.0.0 is the day this command passes against real backends with no mocks:
git clone https://github.com/cagataycali/stobor && cd stobor
python3 -m pip install ".[all]" "mhs[nats,zenoh] @ git+https://github.com/modelhardwarestandard/python-sdk"
bash acceptance/all.sh
| # | script | verifies | backend |
|---|---|---|---|
| 1 | 01_sim_step.py |
reset / step / render on the SO-101 MJCF returns a 480x640x3 frame | MuJoCo |
| 2 | 02_policy_checkpoint.py |
a genuine lerobot checkpoint answers through Policy |
lerobot |
| 3 | 03_rollout_rtc.py |
a rollout with RTC replan drives the sim | MuJoCo + policy |
| 4 | 04_record_reopen.py |
a recorded dataset is finalized and re-read in a fresh process | lerobot format |
| 5 | 05_driver_real_arm.py |
six joints read from a physical arm, one no-motion write | SO-101 |
| 6 | 06_teleop.py |
scripted leader to follower records a demonstration | SO-101 / sim |
| 7 | 07_mesh_two_peer.py |
two peers exchange presence, state and RPC | Zenoh / loopback |
| 8 | 08_dashboard_live.py |
the dashboard shows joints byte-equal to the driver's | sim |
| 9 | 09_agent_tools.py |
every tool runs, including every refusal path | all |
| 10 | 10_preflight_refuses.py |
preflight() refuses a unit-frame mismatch before motion |
core |
| 11 | 11_mhs_device.py |
Robot("so101") mounts as an MHS device: manifest, act, execute_op, e-stop |
MHS SDK |
Each script prints <NAME> OK <what it verified> or <NAME> SKIP <why>. The last line is
on a laptop with no arm attached; the skip is DRIVER_REAL_ARM, and
STRANDS_ROBOTS_PORT=/dev/tty... with an SO-101 plugged in makes it eleven. Without the MHS
SDK it reads 9 real / 2 skipped. real counts checks that ran against their backend;
skipped counts checks whose backend is absent, each with its reason above. A skip is never
a pass. CI runs the
MuJoCo column headless (MUJOCO_GL=egl) and publishes acceptance/results.json, which is
where the coverage matrix takes its marks.