hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Enable CI for robot devices with mocked versions (#398)

Browse Source 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-10-03 17:05:23 +02:00
committed by GitHub
parent 72f402d44b
commit 26f97cfd17
18 changed files with 1053 additions and 237 deletions
Download Patch File Download Diff File Expand all files Collapse all files

163
tests/utils.py
View File

@@ -13,13 +13,21 @@
# 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 os
import platform
from copy import copy
from functools import wraps
import pytest
import torch
from lerobot import available_cameras, available_motors, available_robots
from lerobot.common.robot_devices.cameras.utils import Camera
from lerobot.common.robot_devices.motors.utils import MotorsBus
from lerobot.common.robot_devices.robots.factory import make_robot as make_robot_from_cfg
from lerobot.common.robot_devices.robots.utils import Robot
from lerobot.common.utils.import_utils import is_package_available
from lerobot.common.utils.utils import init_hydra_config
DEVICE = "cuda" if torch.cuda.is_available() else "cpu"
@@ -28,6 +36,32 @@ DEFAULT_CONFIG_PATH = "lerobot/configs/default.yaml"
ROBOT_CONFIG_PATH_TEMPLATE = "lerobot/configs/robot/{robot}.yaml"
TEST_ROBOT_TYPES = []
for robot_type in available_robots:
TEST_ROBOT_TYPES += [(robot_type, True), (robot_type, False)]
TEST_CAMERA_TYPES = []
for camera_type in available_cameras:
TEST_CAMERA_TYPES += [(camera_type, True), (camera_type, False)]
TEST_MOTOR_TYPES = []
for motor_type in available_motors:
TEST_MOTOR_TYPES += [(motor_type, True), (motor_type, False)]
# Camera indices used for connecting physical cameras
OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
INTELREALSENSE_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_CAMERA_INDEX", 128422271614))
DYNAMIXEL_PORT = "/dev/tty.usbmodem575E0032081"
DYNAMIXEL_MOTORS = {
"shoulder_pan": [1, "xl430-w250"],
"shoulder_lift": [2, "xl430-w250"],
"elbow_flex": [3, "xl330-m288"],
"wrist_flex": [4, "xl330-m288"],
"wrist_roll": [5, "xl330-m288"],
"gripper": [6, "xl330-m288"],
}
def require_x86_64_kernel(func):
"""
@@ -173,13 +207,136 @@ def require_robot(func):
# Access the pytest request context to get the is_robot_available fixture
request = kwargs.get("request")
robot_type = kwargs.get("robot_type")
mock = kwargs.get("mock")
if robot_type is None:
raise ValueError("The 'robot_type' must be an argument of the test function.")
if request is None:
raise ValueError("The 'request' fixture must be passed to the test function as a parameter.")
raise ValueError("The 'request' fixture 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.")
# The function `is_robot_available` is defined in `tests/conftest.py`
if not request.getfixturevalue("is_robot_available"):
# Run test with a real robot. Skip test if robot connection fails.
if not mock and not request.getfixturevalue("is_robot_available"):
pytest.skip(f"A {robot_type} robot is not available.")
return func(*args, **kwargs)
return wrapper
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
def require_motor(func):
@wraps(func)
def wrapper(*args, **kwargs):
# Access the pytest request context to get the is_motor_available fixture
request = kwargs.get("request")
motor_type = kwargs.get("motor_type")
mock = kwargs.get("mock")
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
if motor_type is None:
raise ValueError("The 'motor_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_motor_available"):
pytest.skip(f"A {motor_type} motor is not available.")
return func(*args, **kwargs)
return wrapper
def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False) -> Robot:
if mock:
overrides = [] if overrides is None else copy(overrides)
# Explicitely add mock argument to the cameras and set it to true
# TODO(rcadene, aliberts): redesign when we drop hydra
if robot_type == "koch":
overrides.append("+leader_arms.main.mock=true")
overrides.append("+follower_arms.main.mock=true")
if "~cameras" not in overrides:
overrides.append("+cameras.laptop.mock=true")
overrides.append("+cameras.phone.mock=true")
elif robot_type == "koch_bimanual":
overrides.append("+leader_arms.left.mock=true")
overrides.append("+leader_arms.right.mock=true")
overrides.append("+follower_arms.left.mock=true")
overrides.append("+follower_arms.right.mock=true")
if "~cameras" not in overrides:
overrides.append("+cameras.laptop.mock=true")
overrides.append("+cameras.phone.mock=true")
elif robot_type == "aloha":
overrides.append("+leader_arms.left.mock=true")
overrides.append("+leader_arms.right.mock=true")
overrides.append("+follower_arms.left.mock=true")
overrides.append("+follower_arms.right.mock=true")
if "~cameras" not in overrides:
overrides.append("+cameras.cam_high.mock=true")
overrides.append("+cameras.cam_low.mock=true")
overrides.append("+cameras.cam_left_wrist.mock=true")
overrides.append("+cameras.cam_right_wrist.mock=true")
else:
raise NotImplementedError(robot_type)
config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type)
robot_cfg = init_hydra_config(config_path, overrides)
robot = make_robot_from_cfg(robot_cfg)
return robot
def make_camera(camera_type, **kwargs) -> Camera:
if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
camera_index = kwargs.pop("camera_index", OPENCV_CAMERA_INDEX)
return OpenCVCamera(camera_index, **kwargs)
elif camera_type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
camera_index = kwargs.pop("camera_index", INTELREALSENSE_CAMERA_INDEX)
return IntelRealSenseCamera(camera_index, **kwargs)
else:
raise ValueError(f"The camera type '{camera_type}' is not valid.")
def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
if motor_type == "dynamixel":
from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
port = kwargs.pop("port", DYNAMIXEL_PORT)
motors = kwargs.pop("motors", DYNAMIXEL_MOTORS)
return DynamixelMotorsBus(port, motors, **kwargs)
else:
raise ValueError(f"The motor type '{motor_type}' is not valid.")