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move mock_calibration_dir in utils

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This commit is contained in:
Remi Cadene
2024-10-24 11:45:02 +02:00
parent 8d624643aa
commit 3368e8c4d7
3 changed files with 31 additions and 28 deletions
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28
tests/test_control_robot.py
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@@ -23,7 +23,6 @@ pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-True]'
```
"""
import json
import multiprocessing
from pathlib import Path
from unittest.mock import patch
@@ -37,32 +36,7 @@ from lerobot.common.utils.utils import init_hydra_config
from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate
from lerobot.scripts.train import make_optimizer_and_scheduler
from tests.test_robots import make_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot
def mock_calibration_dir(calibration_dir):
# calibration file produced with Moss v1, but works with Koch, Koch bimanual and SO-100
example_calib = {
"homing_offset": [-1416, -845, 2130, 2872, 1950, -2211],
"drive_mode": [0, 0, 1, 1, 1, 0],
"start_pos": [1442, 843, 2166, 2849, 1988, 1835],
"end_pos": [2440, 1869, -1106, -1848, -926, 3235],
"calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
"motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
}
calibration_dir.mkdir(parents=True, exist_ok=True)
with open(calibration_dir / "main_follower.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "main_leader.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "left_follower.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "left_leader.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "right_follower.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "right_leader.json", "w") as f:
json.dump(example_calib, f)
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, mock_calibration_dir, require_robot
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)

3
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)
@@ -54,6 +54,7 @@ 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

28
tests/utils.py
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@@ -13,10 +13,12 @@
# 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 json
import os
import platform
from copy import copy
from functools import wraps
from pathlib import Path
import pytest
import torch
@@ -281,6 +283,32 @@ def require_motor(func):
return wrapper
def mock_calibration_dir(calibration_dir):
# TODO(rcadene): remove this hack
# calibration file produced with Moss v1, but works with Koch, Koch bimanual and SO-100
example_calib = {
"homing_offset": [-1416, -845, 2130, 2872, 1950, -2211],
"drive_mode": [0, 0, 1, 1, 1, 0],
"start_pos": [1442, 843, 2166, 2849, 1988, 1835],
"end_pos": [2440, 1869, -1106, -1848, -926, 3235],
"calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
"motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
}
Path(str(calibration_dir)).mkdir(parents=True, exist_ok=True)
with open(calibration_dir / "main_follower.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "main_leader.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "left_follower.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "left_leader.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "right_follower.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "right_leader.json", "w") as f:
json.dump(example_calib, f)
def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False) -> Robot:
if mock:
overrides = [] if overrides is None else copy(overrides)