forked from tangger/lerobot
Hardware API redesign (#777)
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <steven.palma@huggingface.co> Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com> Co-authored-by: Pepijn <pepijn@huggingface.co>
This commit is contained in:
Simon Alibert
147
tests/utils.py
147
tests/utils.py
@@ -13,20 +13,14 @@
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
import json
|
||||
import os
|
||||
import platform
|
||||
from functools import wraps
|
||||
from pathlib import Path
|
||||
|
||||
import pytest
|
||||
import torch
|
||||
|
||||
from lerobot import available_cameras, available_motors, available_robots
|
||||
from lerobot.common.robot_devices.cameras.utils import Camera
|
||||
from lerobot.common.robot_devices.cameras.utils import make_camera as make_camera_device
|
||||
from lerobot.common.robot_devices.motors.utils import MotorsBus
|
||||
from lerobot.common.robot_devices.motors.utils import make_motors_bus as make_motors_bus_device
|
||||
from lerobot.common.utils.import_utils import is_package_available
|
||||
|
||||
DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu"
|
||||
@@ -188,144 +182,3 @@ def require_package(package_name):
|
||||
return wrapper
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def require_robot(func):
|
||||
"""
|
||||
Decorator that skips the test if a robot is not available
|
||||
|
||||
The decorated function must have two arguments `request` and `robot_type`.
|
||||
|
||||
Example of usage:
|
||||
```python
|
||||
@pytest.mark.parametrize(
|
||||
"robot_type", ["koch", "aloha"]
|
||||
)
|
||||
@require_robot
|
||||
def test_require_robot(request, robot_type):
|
||||
pass
|
||||
```
|
||||
"""
|
||||
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
# 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 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.")
|
||||
|
||||
# Run test with a real robot. Skip test if robot connection fails.
|
||||
if not mock and not request.getfixturevalue("is_robot_available"):
|
||||
pytest.skip(f"A {robot_type} robot is not available.")
|
||||
|
||||
return func(*args, **kwargs)
|
||||
|
||||
return wrapper
|
||||
|
||||
|
||||
def require_camera(func):
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
# Access the pytest request context to get the is_camera_available fixture
|
||||
request = kwargs.get("request")
|
||||
camera_type = kwargs.get("camera_type")
|
||||
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 not mock and not request.getfixturevalue("is_camera_available"):
|
||||
pytest.skip(f"A {camera_type} camera is not available.")
|
||||
|
||||
return func(*args, **kwargs)
|
||||
|
||||
return wrapper
|
||||
|
||||
|
||||
def require_motor(func):
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
# Access the pytest request context to get the is_motor_available fixture
|
||||
request = kwargs.get("request")
|
||||
motor_type = kwargs.get("motor_type")
|
||||
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 not mock and not request.getfixturevalue("is_motor_available"):
|
||||
pytest.skip(f"A {motor_type} motor is not available.")
|
||||
|
||||
return func(*args, **kwargs)
|
||||
|
||||
return wrapper
|
||||
|
||||
|
||||
def mock_calibration_dir(calibration_dir):
|
||||
# TODO(rcadene): remove this hack
|
||||
# calibration file produced with Moss v1, but works with Koch, Koch bimanual and SO-100
|
||||
example_calib = {
|
||||
"homing_offset": [-1416, -845, 2130, 2872, 1950, -2211],
|
||||
"drive_mode": [0, 0, 1, 1, 1, 0],
|
||||
"start_pos": [1442, 843, 2166, 2849, 1988, 1835],
|
||||
"end_pos": [2440, 1869, -1106, -1848, -926, 3235],
|
||||
"calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
|
||||
"motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
|
||||
}
|
||||
Path(str(calibration_dir)).mkdir(parents=True, exist_ok=True)
|
||||
with open(calibration_dir / "main_follower.json", "w") as f:
|
||||
json.dump(example_calib, f)
|
||||
with open(calibration_dir / "main_leader.json", "w") as f:
|
||||
json.dump(example_calib, f)
|
||||
with open(calibration_dir / "left_follower.json", "w") as f:
|
||||
json.dump(example_calib, f)
|
||||
with open(calibration_dir / "left_leader.json", "w") as f:
|
||||
json.dump(example_calib, f)
|
||||
with open(calibration_dir / "right_follower.json", "w") as f:
|
||||
json.dump(example_calib, f)
|
||||
with open(calibration_dir / "right_leader.json", "w") as f:
|
||||
json.dump(example_calib, f)
|
||||
|
||||
|
||||
# TODO(rcadene, aliberts): remove this dark pattern that overrides
|
||||
def make_camera(camera_type: str, **kwargs) -> Camera:
|
||||
if camera_type == "opencv":
|
||||
camera_index = kwargs.pop("camera_index", OPENCV_CAMERA_INDEX)
|
||||
return make_camera_device(camera_type, camera_index=camera_index, **kwargs)
|
||||
|
||||
elif camera_type == "intelrealsense":
|
||||
serial_number = kwargs.pop("serial_number", INTELREALSENSE_SERIAL_NUMBER)
|
||||
return make_camera_device(camera_type, serial_number=serial_number, **kwargs)
|
||||
else:
|
||||
raise ValueError(f"The camera type '{camera_type}' is not valid.")
|
||||
|
||||
|
||||
# TODO(rcadene, aliberts): remove this dark pattern that overrides
|
||||
def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
|
||||
if motor_type == "dynamixel":
|
||||
port = kwargs.pop("port", DYNAMIXEL_PORT)
|
||||
motors = kwargs.pop("motors", DYNAMIXEL_MOTORS)
|
||||
return make_motors_bus_device(motor_type, port=port, motors=motors, **kwargs)
|
||||
|
||||
elif motor_type == "feetech":
|
||||
port = kwargs.pop("port", FEETECH_PORT)
|
||||
motors = kwargs.pop("motors", FEETECH_MOTORS)
|
||||
return make_motors_bus_device(motor_type, port=port, motors=motors, **kwargs)
|
||||
|
||||
else:
|
||||
raise ValueError(f"The motor type '{motor_type}' is not valid.")
|
||||
|
||||
Reference in New Issue
Block a user