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

[pre-commit.ci] auto fixes from pre-commit.com hooks

Browse Source 
for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot]
2025-03-04 13:38:47 +00:00
parent d8a1758122
commit 584cad808e
108 changed files with 3894 additions and 1189 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
tests/test_control_robot.py
View File

@@ -35,7 +35,13 @@ 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, mock_calibration_dir, require_robot
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)
@@ -158,7 +164,15 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
assert dataset.meta.total_episodes == 2
assert len(dataset) == 2
replay(robot, episode=0, fps=1, root=root, repo_id=repo_id, play_sounds=False, local_files_only=True)
replay(
robot,
episode=0,
fps=1,
root=root,
repo_id=repo_id,
play_sounds=False,
local_files_only=True,
)
# TODO(rcadene, aliberts): rethink this design
if robot_type == "aloha":
@@ -346,8 +360,12 @@ def test_record_with_event_rerecord_episode(tmpdir, request, robot_type, mock):
run_compute_stats=False,
)
assert not mock_events["rerecord_episode"], "`rerecord_episode` wasn't properly reset to False"
assert not mock_events["exit_early"], "`exit_early` wasn't properly reset to False"
assert not mock_events[
"rerecord_episode"
], "`rerecord_episode` wasn't properly reset to False"
assert not mock_events[
"exit_early"
], "`exit_early` wasn't properly reset to False"
assert len(dataset) == 1, "`dataset` should contain only 1 frame"
@@ -394,15 +412,20 @@ def test_record_with_event_exit_early(tmpdir, request, robot_type, mock):
run_compute_stats=False,
)
assert not mock_events["exit_early"], "`exit_early` wasn't properly reset to False"
assert not mock_events[
"exit_early"
], "`exit_early` wasn't properly reset to False"
assert len(dataset) == 1, "`dataset` should contain only 1 frame"
@pytest.mark.parametrize(
"robot_type, mock, num_image_writer_processes", [("koch", True, 0), ("koch", True, 1)]
"robot_type, mock, num_image_writer_processes",
[("koch", True, 0), ("koch", True, 1)],
)
@require_robot
def test_record_with_event_stop_recording(tmpdir, request, robot_type, mock, num_image_writer_processes):
def test_record_with_event_stop_recording(
tmpdir, request, robot_type, mock, num_image_writer_processes
):
if mock:
request.getfixturevalue("patch_builtins_input")
@@ -444,5 +467,7 @@ def test_record_with_event_stop_recording(tmpdir, request, robot_type, mock, num
num_image_writer_processes=num_image_writer_processes,
)
assert not mock_events["exit_early"], "`exit_early` wasn't properly reset to False"
assert not mock_events[
"exit_early"
], "`exit_early` wasn't properly reset to False"
assert len(dataset) == 1, "`dataset` should contain only 1 frame"