Add unit tests (WIP)

tests/test_cameras.py

@@ -0,0 +1,98 @@
+
+
+import numpy as np
+import pytest
+
+from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
+from lerobot.common.robot_devices.utils import RobotDeviceNotConnectedError, RobotDeviceAlreadyConnectedError
+
+
+def test_camera():
+    # Test instantiating with missing camera index raises an error
+    with pytest.raises(ValueError):
+        camera = OpenCVCamera()
+
+    # Test instantiating with a wrong camera index raises an error
+    with pytest.raises(ValueError):
+        camera = OpenCVCamera(-1)
+
+    # Test instantiating
+    camera = OpenCVCamera(0)
+
+    # Test reading, async reading, disconnecting before connecting raises an error
+    with pytest.raises(RobotDeviceNotConnectedError):
+        camera.read()
+    with pytest.raises(RobotDeviceNotConnectedError):
+        camera.async_read()
+    with pytest.raises(RobotDeviceNotConnectedError):
+        camera.disconnect()
+
+    # Test deleting the object without connecting first
+    del camera
+
+    # Test connecting
+    camera = OpenCVCamera(0)
+    camera.connect()
+    assert camera.is_connected
+    assert camera.fps is not None
+    assert camera.width is not None
+    assert camera.height is not None
+
+    # Test connecting twice raises an error
+    with pytest.raises(RobotDeviceAlreadyConnectedError):
+        camera.connect()
+
+    # Test reading from the camera
+    color_image = camera.read()
+    assert isinstance(color_image, np.ndarray)
+    assert color_image.ndim == 3
+    h, w, c = color_image.shape
+    assert c == 3
+    assert w > h
+
+    # Test reading asynchronously from the camera and image is similar
+    async_color_image = camera.async_read()
+    assert np.allclose(color_image, async_color_image)
+
+    # Test disconnecting
+    camera.disconnect()
+    assert camera.camera is None
+    assert camera.thread is None
+
+    # Test disconnecting with `__del__`
+    camera = OpenCVCamera(0)
+    camera.connect()
+    del camera
+
+    # Test acquiring a bgr image
+    camera = OpenCVCamera(0, color="bgr")
+    camera.connect()
+    assert camera.color == "bgr"
+    bgr_color_image = camera.read()
+    assert np.allclose(color_image, bgr_color_image[[2,1,0]])
+    del camera
+
+    # Test fps can be set
+    camera = OpenCVCamera(0, fps=60)
+    camera.connect()
+    assert camera.fps == 60
+    # TODO(rcadene): measure fps in nightly?
+    del camera
+
+    # Test width and height can be set
+    camera = OpenCVCamera(0, fps=30, width=1280, height=720)
+    camera.connect()
+    assert camera.fps == 30
+    assert camera.width == 1280
+    assert camera.height == 720
+    color_image = camera.read()
+    h, w, c = color_image.shape
+    assert h == 720
+    assert w == 1280
+    assert c == 3
+    del camera
+
+
+
+
+

tests/test_control_robot.py

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+
+
+def test_teleoperate():
+    pass
+
+def test_record_dataset():
+    pass
+
+def test_replay_episode():
+    pass
+
+def test_run_policy():
+    pass

tests/test_motors.py

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+
+import time
+import numpy as np
+import pytest
+from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
+
+
+def test_motors_bus():
+    # Test instantiating a common motors structure.
+    # Here the one from Alexander Koch follower arm.
+    motors = {
+        # name: (index, model)
+        "shoulder_pan": (1, "xl430-w250"),
+        "shoulder_lift": (2, "xl430-w250"),
+        "elbow_flex": (3, "xl330-m288"),
+        "wrist_flex": (4, "xl330-m288"),
+        "wrist_roll": (5, "xl330-m288"),
+        "gripper": (6, "xl330-m288"),
+    }
+    motors_bus = DynamixelMotorsBus(
+        port="/dev/tty.usbmodem575E0032081",
+        motors=motors,
+    )
+
+    # Test reading and writting before connecting raises an error
+    with pytest.raises(ValueError):
+        motors_bus.read("Torque_Enable")
+    with pytest.raises(ValueError):
+        motors_bus.write("Torque_Enable")
+
+    motors_bus.connect()
+
+    # Test connecting twice raises an error
+    with pytest.raises(ValueError):
+        motors_bus.connect()
+
+    # Test reading torque on all motors and its 0 after first connection
+    values = motors_bus.read("Torque_Enable")
+    assert isinstance(values, np.ndarray)
+    assert len(values) == len(motors)
+    assert (values == 0).all()
+
+    # Test writing torque on a specific motor
+    motors_bus.write("Torque_Enable", 1, "gripper")
+
+    # Test reading torque from this specific motor. It is now 1
+    values = motors_bus.read("Torque_Enable", "gripper")
+    assert len(values) == 1
+    assert values[0] == 1
+
+    # Test reading torque from all motors. It is 1 for the specific motor,
+    # and 0 on the others.
+    values = motors_bus.read("Torque_Enable")
+    gripper_index = motors_bus.motor_names.index("gripper")
+    assert values[gripper_index] == 1
+    assert values.sum() == 1  # gripper is the only motor to have torque 1
+
+    # Test writing torque on all motors and it is 1 for all.
+    motors_bus.write("Torque_Enable", 1)
+    values = motors_bus.read("Torque_Enable")
+    assert (values == 1).all()
+
+    # Test ordering the motors to move slightly (+1 value among 4096) and this move
+    # can be executed and seen by the motor position sensor
+    values = motors_bus.read("Present_Position")
+    motors_bus.write("Goal_Position", values + 1)
+    # Give time for the motors to move to the goal position
+    time.sleep(1)
+    new_values = motors_bus.read("Present_Position")
+    assert new_values == values
+
+    # TODO(rcadene): test calibration
+    # TODO(rcadene): test logs?