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Control aloha robot natively (#316)

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-09-04 19:28:05 +02:00
committed by GitHub
parent 27ba2951d1
commit 429a463aff
32 changed files with 898 additions and 390 deletions
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42
tests/test_control_robot.py
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@@ -1,53 +1,53 @@
from pathlib import Path
import pytest
from lerobot import available_robots
from lerobot.common.policies.factory import make_policy
from lerobot.common.robot_devices.robots.factory import make_robot
from lerobot.common.utils.utils import init_hydra_config
from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, KOCH_ROBOT_CONFIG_PATH, require_koch
from tests.test_robots import make_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_robot
def make_robot_(overrides=None):
robot_cfg = init_hydra_config(KOCH_ROBOT_CONFIG_PATH, overrides)
robot = make_robot(robot_cfg)
return robot
@require_koch
# `require_koch` uses `request` to access `is_koch_available` fixture
def test_teleoperate(request):
robot = make_robot_()
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_teleoperate(request, robot_type):
robot = make_robot(robot_type)
teleoperate(robot, teleop_time_s=1)
teleoperate(robot, fps=30, teleop_time_s=1)
teleoperate(robot, fps=60, teleop_time_s=1)
del robot
@require_koch
def test_calibrate(request):
robot = make_robot_()
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_calibrate(request, robot_type):
robot = make_robot(robot_type)
calibrate(robot)
del robot
@require_koch
def test_record_without_cameras(tmpdir, request):
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_record_without_cameras(tmpdir, request, robot_type):
root = Path(tmpdir)
repo_id = "lerobot/debug"
robot = make_robot_(overrides=["~cameras"])
robot = make_robot(robot_type, overrides=["~cameras"])
record(robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2)
@require_koch
def test_record_and_replay_and_policy(tmpdir, request):
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_record_and_replay_and_policy(tmpdir, request, robot_type):
env_name = "koch_real"
policy_name = "act_koch_real"
root = Path(tmpdir)
repo_id = "lerobot/debug"
robot = make_robot_()
robot = make_robot(robot_type)
dataset = record(
robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2
)