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Address comments

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This commit is contained in:
Remi Cadene
2024-09-16 14:50:53 +02:00
parent ccc0586d45
commit 6636db5b51
8 changed files with 112 additions and 62 deletions
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2
lerobot/common/robot_devices/cameras/intelrealsense.py
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@@ -288,7 +288,9 @@ class IntelRealSenseCamera:
actual_width = color_profile.width()
actual_height = color_profile.height()
# Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30)
if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
# Using `OSError` since it's a broad that encompasses issues related to device communication
raise OSError(
f"Can't set {self.fps=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_fps}."
)

2
lerobot/common/robot_devices/cameras/opencv.py
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@@ -272,7 +272,9 @@ class OpenCVCamera:
actual_width = self.camera.get(cv2.CAP_PROP_FRAME_WIDTH)
actual_height = self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT)
# Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30)
if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
# Using `OSError` since it's a broad that encompasses issues related to device communication
raise OSError(
f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}."
)

9
tests/mock_dynamixel.py
View File

@@ -1,9 +1,18 @@
"""Mocked classes and functions from dynamixel_sdk to allow for continuous integration
and testing code logic that requires hardware and devices (e.g. robot arms, cameras)
Warning: These mocked versions are minimalist. They do not exactly mock every behaviors
from the original classes and functions (e.g. return types might be None instead of boolean).
"""
from dynamixel_sdk import COMM_SUCCESS
DEFAULT_BAUDRATE = 9_600
def mock_convert_to_bytes(value, bytes):
# TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
# `convert_bytes_to_value`
del bytes # unused
return value

22
tests/test_cameras.py
View File

@@ -10,17 +10,19 @@ pytest -sx tests/test_cameras.py::test_camera
Example of running test on a real camera connected to the computer:
```bash
pytest -sx tests/test_cameras.py::test_camera[opencv]
pytest -sx tests/test_cameras.py::test_camera[intelrealsense]
pytest -sx 'tests/test_cameras.py::test_camera[opencv-False]'
pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-False]'
```
Example of running test on a mocked version of the camera:
```bash
pytest -sx -k "mocked_opencv" tests/test_cameras.py::test_camera
pytest -sx -k "mocked_intelrealsense" tests/test_cameras.py::test_camera
pytest -sx 'tests/test_cameras.py::test_camera[opencv-True]'
pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
```
"""
import os
import numpy as np
import pytest
@@ -28,8 +30,8 @@ from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError,
from tests.utils import TEST_CAMERA_TYPES, require_camera
# Camera indices used for connecting physical cameras
OPENCV_CAMERA_INDEX = 0
INTELREALSENSE_CAMERA_INDEX = 128422271614
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))
# Maximum absolute difference between two consecutive images recored by a camera.
# This value differs with respect to the camera.
@@ -57,9 +59,9 @@ def make_camera(camera_type, **kwargs):
raise ValueError(f"The camera type '{camera_type}' is not valid.")
@pytest.mark.parametrize("camera_type", TEST_CAMERA_TYPES)
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
@require_camera
def test_camera(request, camera_type):
def test_camera(request, camera_type, mock):
"""Test assumes that `camera.read()` returns the same image when called multiple times in a row.
So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving.
@@ -156,9 +158,9 @@ def test_camera(request, camera_type):
del camera
@pytest.mark.parametrize("camera_type", TEST_CAMERA_TYPES)
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
@require_camera
def test_save_images_from_cameras(tmpdir, request, camera_type):
def test_save_images_from_cameras(tmpdir, request, camera_type, mock):
# TODO(rcadene): refactor
if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import save_images_from_cameras

41
tests/test_control_robot.py
View File

@@ -1,3 +1,28 @@
"""
Tests for physical robots and their mocked versions.
If the physical robots are not connected to the computer, or not working,
the test will be skipped.
Example of running a specific test:
```bash
pytest -sx tests/test_control_robot.py::test_teleoperate
```
Example of running test on real robots connected to the computer:
```bash
pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch-False]'
pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch_bimanual-False]'
pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-False]'
```
Example of running test on a mocked version of robots:
```bash
pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch-True]'
pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch_bimanual-True]'
pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-True]'
```
"""
from pathlib import Path
import pytest
@@ -9,9 +34,9 @@ from tests.test_robots import make_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot
@pytest.mark.parametrize("robot_type", TEST_ROBOT_TYPES)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_teleoperate(request, robot_type):
def test_teleoperate(request, robot_type, mock):
robot = make_robot(robot_type)
teleoperate(robot, teleop_time_s=1)
teleoperate(robot, fps=30, teleop_time_s=1)
@@ -19,17 +44,17 @@ def test_teleoperate(request, robot_type):
del robot
@pytest.mark.parametrize("robot_type", TEST_ROBOT_TYPES)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_calibrate(request, robot_type):
def test_calibrate(request, robot_type, mock):
robot = make_robot(robot_type)
calibrate(robot)
del robot
@pytest.mark.parametrize("robot_type", TEST_ROBOT_TYPES)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_record_without_cameras(tmpdir, request, robot_type):
def test_record_without_cameras(tmpdir, request, robot_type, mock):
root = Path(tmpdir)
repo_id = "lerobot/debug"
@@ -37,9 +62,9 @@ def test_record_without_cameras(tmpdir, request, robot_type):
record(robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2)
@pytest.mark.parametrize("robot_type", TEST_ROBOT_TYPES)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_record_and_replay_and_policy(tmpdir, request, robot_type):
def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
env_name = "koch_real"
policy_name = "act_koch_real"

8
tests/test_motors.py
View File

@@ -11,12 +11,12 @@ pytest -sx tests/test_motors.py::test_motors_bus
Example of running test on real dynamixel motors connected to the computer:
```bash
pytest -sx tests/test_motors.py::test_motors_bus[dynamixel]
pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-False]'
```
Example of running test on a mocked version of dynamixel motors:
```bash
pytest -sx -k "mocked_dynamixel" tests/test_motors.py::test_motors_bus
pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-True]'
```
"""
@@ -87,9 +87,9 @@ def test_configure_motors_all_ids_1(request, motor_type):
del motors_bus
@pytest.mark.parametrize("motor_type", TEST_MOTOR_TYPES)
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
@require_motor
def test_motors_bus(request, motor_type):
def test_motors_bus(request, motor_type, mock):
motors_bus = make_motors_bus(motor_type)
# Test reading and writting before connecting raises an error

17
tests/test_robots.py
View File

@@ -10,18 +10,17 @@ pytest -sx tests/test_robots.py::test_robot
Example of running test on real robots connected to the computer:
```bash
pytest -sx tests/test_robots.py::test_robot[koch]
pytest -sx tests/test_robots.py::test_robot[koch_bimanual]
pytest -sx tests/test_robots.py::test_robot[aloha]
pytest -sx 'tests/test_robots.py::test_robot[koch-False]'
pytest -sx 'tests/test_robots.py::test_robot[koch_bimanual-False]'
pytest -sx 'tests/test_robots.py::test_robot[aloha-False]'
```
Example of running test on a mocked version of robots:
```bash
pytest -sx -k "mocked_koch" tests/test_robots.py::test_robot
pytest -sx -k "mocked_koch_bimanual" tests/test_robots.py::test_robot
pytest -sx -k "mocked_aloha" tests/test_robots.py::test_robot
pytest -sx 'tests/test_robots.py::test_robot[koch-True]'
pytest -sx 'tests/test_robots.py::test_robot[koch_bimanual-True]'
pytest -sx 'tests/test_robots.py::test_robot[aloha-True]'
```
"""
from pathlib import Path
@@ -43,9 +42,9 @@ def make_robot(robot_type: str, overrides: list[str] | None = None) -> Robot:
return robot
@pytest.mark.parametrize("robot_type", TEST_ROBOT_TYPES)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_robot(tmpdir, request, robot_type):
def test_robot(tmpdir, request, robot_type, mock):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): add compatibility with other robots

73
tests/utils.py
View File

@@ -30,9 +30,17 @@ DEFAULT_CONFIG_PATH = "lerobot/configs/default.yaml"
ROBOT_CONFIG_PATH_TEMPLATE = "lerobot/configs/robot/{robot}.yaml"
TEST_ROBOT_TYPES = available_robots + [f"mocked_{robot_type}" for robot_type in available_robots]
TEST_CAMERA_TYPES = available_cameras + [f"mocked_{camera_type}" for camera_type in available_cameras]
TEST_MOTOR_TYPES = available_motors + [f"mocked_{motor_type}" for motor_type in available_motors]
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)]
def require_x86_64_kernel(func):
@@ -179,21 +187,22 @@ 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 robot_type not in TEST_ROBOT_TYPES:
raise ValueError(
f"The camera type '{robot_type}' is not valid. Expected one of these '{TEST_ROBOT_TYPES}"
)
if request is None:
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.")
if robot_type not in available_robots:
raise ValueError(
f"The camera type '{robot_type}' is not valid. Expected one of these '{available_robots}"
)
# Run test with a monkeypatched version of the robot devices.
if robot_type.startswith("mocked_"):
kwargs["robot_type"] = robot_type.replace("mocked_", "")
if mock:
mock_cameras(request)
mock_motors(request)
@@ -221,21 +230,22 @@ def require_camera(func):
# Access the pytest request context to get the is_camera_available fixture
request = kwargs.get("request")
camera_type = kwargs.get("camera_type")
if camera_type is None:
raise ValueError("The 'camera_type' must be an argument of the test function.")
if camera_type not in TEST_CAMERA_TYPES:
raise ValueError(
f"The camera type '{camera_type}' is not valid. Expected one of these '{TEST_CAMERA_TYPES}"
)
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 camera_type not in available_cameras:
raise ValueError(
f"The camera type '{camera_type}' is not valid. Expected one of these '{available_cameras}"
)
# Run test with a monkeypatched version of the robot devices.
if camera_type.startswith("mocked_"):
kwargs["camera_type"] = camera_type.replace("mocked_", "")
if mock:
mock_cameras(request)
# Run test with a real robot. Skip test if robot connection fails.
@@ -255,21 +265,22 @@ def require_motor(func):
# Access the pytest request context to get the is_motor_available fixture
request = kwargs.get("request")
motor_type = kwargs.get("motor_type")
if motor_type is None:
raise ValueError("The 'motor_type' must be an argument of the test function.")
if motor_type not in TEST_MOTOR_TYPES:
raise ValueError(
f"The motor type '{motor_type}' is not valid. Expected one of these '{TEST_MOTOR_TYPES}"
)
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 motor_type not in available_motors:
raise ValueError(
f"The motor type '{motor_type}' is not valid. Expected one of these '{available_motors}"
)
# Run test with a monkeypatched version of the robot devices.
if motor_type.startswith("mocked_"):
kwargs["motor_type"] = motor_type.replace("mocked_", "")
if mock:
mock_motors(request)
# Run test with a real robot. Skip test if robot connection fails.