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Add FeetechMotorsBus, SO-100, Moss-v1 (#419)

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Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-10-25 11:23:55 +02:00
committed by GitHub
parent 114870d703
commit 07e8716315
42 changed files with 2911 additions and 340 deletions
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4
tests/test_robots.py
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@@ -30,7 +30,7 @@ import torch
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import TEST_ROBOT_TYPES, make_robot, require_robot
from tests.utils import TEST_ROBOT_TYPES, make_robot, mock_calibration_dir, require_robot
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@@ -39,7 +39,6 @@ def test_robot(tmpdir, request, robot_type, mock):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): add compatibility with other robots
robot_kwargs = {"robot_type": robot_type}
if robot_type == "aloha" and mock:
@@ -54,6 +53,7 @@ def test_robot(tmpdir, request, robot_type, mock):
tmpdir = Path(tmpdir)
calibration_dir = tmpdir / robot_type
overrides_calibration_dir = [f"calibration_dir={calibration_dir}"]
mock_calibration_dir(calibration_dir)
robot_kwargs["calibration_dir"] = calibration_dir
# Test connecting without devices raises an error