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Add FeetechMotorsBus, SO-100, Moss-v1 (#419)

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Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-10-25 11:23:55 +02:00
committed by GitHub
parent 114870d703
commit 07e8716315
42 changed files with 2911 additions and 340 deletions
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15
tests/test_control_robot.py
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@@ -36,7 +36,7 @@ from lerobot.common.utils.utils import init_hydra_config
from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate
from lerobot.scripts.train import make_optimizer_and_scheduler
from tests.test_robots import make_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, mock_calibration_dir, require_robot
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@@ -49,6 +49,7 @@ def test_teleoperate(tmpdir, request, robot_type, mock):
# and avoid writing calibration files in user .cache/calibration folder
tmpdir = Path(tmpdir)
calibration_dir = tmpdir / robot_type
mock_calibration_dir(calibration_dir)
overrides = [f"calibration_dir={calibration_dir}"]
else:
# Use the default .cache/calibration folder when mock=False
@@ -89,6 +90,7 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = Path(tmpdir) / robot_type
mock_calibration_dir(calibration_dir)
overrides.append(f"calibration_dir={calibration_dir}")
root = Path(tmpdir) / "data"
@@ -121,6 +123,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
mock_calibration_dir(calibration_dir)
overrides = [f"calibration_dir={calibration_dir}"]
else:
# Use the default .cache/calibration folder when mock=False or for aloha
@@ -162,6 +165,12 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
elif robot_type in ["koch", "koch_bimanual"]:
env_name = "koch_real"
policy_name = "act_koch_real"
elif robot_type == "so100":
env_name = "so100_real"
policy_name = "act_so100_real"
elif robot_type == "moss":
env_name = "moss_real"
policy_name = "act_moss_real"
else:
raise NotImplementedError(robot_type)
@@ -248,6 +257,7 @@ def test_resume_record(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
mock_calibration_dir(calibration_dir)
overrides = [f"calibration_dir={calibration_dir}"]
else:
# Use the default .cache/calibration folder when mock=False or for aloha
@@ -311,6 +321,7 @@ def test_record_with_event_rerecord_episode(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
mock_calibration_dir(calibration_dir)
overrides = [f"calibration_dir={calibration_dir}"]
else:
# Use the default .cache/calibration folder when mock=False or for aloha
@@ -360,6 +371,7 @@ def test_record_with_event_exit_early(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
mock_calibration_dir(calibration_dir)
overrides = [f"calibration_dir={calibration_dir}"]
else:
# Use the default .cache/calibration folder when mock=False or for aloha
@@ -410,6 +422,7 @@ def test_record_with_event_stop_recording(tmpdir, request, robot_type, mock, num
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
mock_calibration_dir(calibration_dir)
overrides = [f"calibration_dir={calibration_dir}"]
else:
# Use the default .cache/calibration folder when mock=False or for aloha