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Improve control robot ; Add process to configure motor indices (#326)

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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Remi
2024-08-15 18:11:33 +02:00
committed by GitHub
parent 8c4643687c
commit bbe9057225
35 changed files with 2085 additions and 476 deletions
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40
tests/test_control_robot.py
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@@ -3,13 +3,20 @@ 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
from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, KOCH_ROBOT_CONFIG_PATH, require_koch
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("koch")
robot = make_robot_()
teleoperate(robot, teleop_time_s=1)
teleoperate(robot, fps=30, teleop_time_s=1)
teleoperate(robot, fps=60, teleop_time_s=1)
@@ -17,20 +24,35 @@ def test_teleoperate(request):
@require_koch
def test_record_dataset_and_replay_episode_and_run_policy(tmpdir, request):
robot_name = "koch"
def test_calibrate(request):
robot = make_robot_()
calibrate(robot)
del robot
@require_koch
def test_record_without_cameras(tmpdir, request):
root = Path(tmpdir)
repo_id = "lerobot/debug"
robot = make_robot_(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):
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 = make_robot_()
dataset = record(
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)
replay(robot, episode=0, fps=30, root=root, repo_id=repo_id)
cfg = init_hydra_config(
DEFAULT_CONFIG_PATH,
@@ -43,6 +65,6 @@ def test_record_dataset_and_replay_episode_and_run_policy(tmpdir, request):
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
run_policy(robot, policy, cfg, run_time_s=1)
record(robot, policy, cfg, run_time_s=1)
del robot