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

Fix unit test

Browse Source
This commit is contained in:
Remi Cadene
2024-09-12 02:43:21 +02:00
parent 53ebf9cf9f
commit cd4d2257d3
4 changed files with 29 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
tests/test_control_robot.py
View File

@@ -2,15 +2,14 @@ from pathlib import Path
import pytest
from lerobot import available_robots
from lerobot.common.policies.factory import make_policy
from lerobot.common.utils.utils import init_hydra_config
from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate
from tests.test_robots import make_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_MOTOR_TYPES, require_robot
@pytest.mark.parametrize("robot_type", available_robots)
@pytest.mark.parametrize("robot_type", TEST_MOTOR_TYPES)
@require_robot
def test_teleoperate(request, robot_type):
robot = make_robot(robot_type)
@@ -20,7 +19,7 @@ def test_teleoperate(request, robot_type):
del robot
@pytest.mark.parametrize("robot_type", available_robots)
@pytest.mark.parametrize("robot_type", TEST_MOTOR_TYPES)
@require_robot
def test_calibrate(request, robot_type):
robot = make_robot(robot_type)
@@ -28,7 +27,7 @@ def test_calibrate(request, robot_type):
del robot
@pytest.mark.parametrize("robot_type", available_robots)
@pytest.mark.parametrize("robot_type", TEST_MOTOR_TYPES)
@require_robot
def test_record_without_cameras(tmpdir, request, robot_type):
root = Path(tmpdir)
@@ -38,7 +37,7 @@ 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", available_robots)
@pytest.mark.parametrize("robot_type", TEST_MOTOR_TYPES)
@require_robot
def test_record_and_replay_and_policy(tmpdir, request, robot_type):
env_name = "koch_real"