Add real robot devices and scripts to control real robot (#288)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

tests/test_control_robot.py

@@ -0,0 +1,48 @@
+from pathlib import Path
+
+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 record_dataset, replay_episode, run_policy, teleoperate
+from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_koch
+
+
+@require_koch
+def test_teleoperate(request):
+    robot = make_robot("koch")
+    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_record_dataset_and_replay_episode_and_run_policy(tmpdir, request):
+    robot_name = "koch"
+    env_name = "koch_real"
+    policy_name = "act_koch_real"
+
+    root = Path(tmpdir)
+    repo_id = "lerobot/debug"
+
+    robot = make_robot(robot_name)
+    dataset = record_dataset(
+        robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2
+    )
+
+    replay_episode(robot, episode=0, fps=30, root=root, repo_id=repo_id)
+
+    cfg = init_hydra_config(
+        DEFAULT_CONFIG_PATH,
+        overrides=[
+            f"env={env_name}",
+            f"policy={policy_name}",
+            f"device={DEVICE}",
+        ],
+    )
+
+    policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
+
+    run_policy(robot, policy, cfg, run_time_s=1)
+
+    del robot