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Enable CI for robot devices with mocked versions (#398)

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-10-03 17:05:23 +02:00
committed by GitHub
parent 72f402d44b
commit 26f97cfd17
18 changed files with 1053 additions and 237 deletions
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72
tests/test_motors.py
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@@ -1,11 +1,23 @@
"""
Tests meant to be used locally and launched manually.
Tests for physical motors and their mocked versions.
If the physical motors are not connected to the computer, or not working,
the test will be skipped.
Example usage:
Example of running a specific test:
```bash
pytest -sx tests/test_motors.py::test_find_port
pytest -sx tests/test_motors.py::test_motors_bus
```
Example of running test on real dynamixel motors connected to the computer:
```bash
pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-False]'
```
Example of running test on a mocked version of dynamixel motors:
```bash
pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-True]'
```
"""
# TODO(rcadene): measure fps in nightly?
@@ -18,38 +30,31 @@ import time
import numpy as np
import pytest
from lerobot import available_robots
from lerobot.common.robot_devices.motors.utils import MotorsBus
from lerobot.common.robot_devices.robots.factory import make_robot
from lerobot.common.robot_devices.motors.dynamixel import find_port
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.common.utils.utils import init_hydra_config
from tests.utils import ROBOT_CONFIG_PATH_TEMPLATE, require_robot
from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor
def make_motors_bus(robot_type: str) -> MotorsBus:
# Instantiate a robot and return one of its leader arms
config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type)
robot_cfg = init_hydra_config(config_path)
robot = make_robot(robot_cfg)
first_bus_name = list(robot.leader_arms.keys())[0]
motors_bus = robot.leader_arms[first_bus_name]
return motors_bus
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
@require_motor
def test_find_port(request, motor_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
with pytest.raises(OSError):
find_port()
else:
find_port()
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_find_port(request, robot_type):
from lerobot.common.robot_devices.motors.dynamixel import find_port
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
@require_motor
def test_configure_motors_all_ids_1(request, motor_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
find_port()
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_configure_motors_all_ids_1(request, robot_type):
input("Are you sure you want to re-configure the motors? Press enter to continue...")
# This test expect the configuration was already correct.
motors_bus = make_motors_bus(robot_type)
motors_bus = make_motors_bus(motor_type, mock=mock)
motors_bus.connect()
motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
motors_bus.set_bus_baudrate(9_600)
@@ -57,16 +62,19 @@ def test_configure_motors_all_ids_1(request, robot_type):
del motors_bus
# Test configure
motors_bus = make_motors_bus(robot_type)
motors_bus = make_motors_bus(motor_type, mock=mock)
motors_bus.connect()
assert motors_bus.are_motors_configured()
del motors_bus
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_motors_bus(request, robot_type):
motors_bus = make_motors_bus(robot_type)
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
@require_motor
def test_motors_bus(request, motor_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
motors_bus = make_motors_bus(motor_type, mock=mock)
# Test reading and writting before connecting raises an error
with pytest.raises(RobotDeviceNotConnectedError):
@@ -80,7 +88,7 @@ def test_motors_bus(request, robot_type):
del motors_bus
# Test connecting
motors_bus = make_motors_bus(robot_type)
motors_bus = make_motors_bus(motor_type, mock=mock)
motors_bus.connect()
# Test connecting twice raises an error