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Simplify configs (#550)

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Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
This commit is contained in:
Simon Alibert
2025-01-31 13:57:37 +01:00
committed by GitHub
parent 1ee1acf8ad
commit 3c0a209f9f
119 changed files with 5761 additions and 5466 deletions
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23
tests/test_robots.py
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@@ -28,9 +28,9 @@ from pathlib import Path
import pytest
import torch
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
from lerobot.common.robot_devices.robots.utils import make_robot
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import TEST_ROBOT_TYPES, make_robot, mock_calibration_dir, require_robot
from tests.utils import TEST_ROBOT_TYPES, mock_calibration_dir, require_robot
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@@ -39,12 +39,12 @@ def test_robot(tmpdir, request, robot_type, mock):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): add compatibility with other robots
robot_kwargs = {"robot_type": robot_type}
robot_kwargs = {"robot_type": robot_type, "mock": mock}
if robot_type == "aloha" and mock:
# To simplify unit test, we do not rerun manual calibration for Aloha mock=True.
# Instead, we use the files from '.cache/calibration/aloha_default'
overrides_calibration_dir = None
pass
else:
if mock:
request.getfixturevalue("patch_builtins_input")
@@ -52,18 +52,11 @@ def test_robot(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
tmpdir = Path(tmpdir)
calibration_dir = tmpdir / robot_type
overrides_calibration_dir = [f"calibration_dir={calibration_dir}"]
mock_calibration_dir(calibration_dir)
robot_kwargs["calibration_dir"] = calibration_dir
# Test connecting without devices raises an error
robot = ManipulatorRobot(**robot_kwargs)
with pytest.raises(ValueError):
robot.connect()
del robot
# Test using robot before connecting raises an error
robot = ManipulatorRobot(**robot_kwargs)
robot = make_robot(**robot_kwargs)
with pytest.raises(RobotDeviceNotConnectedError):
robot.teleop_step()
with pytest.raises(RobotDeviceNotConnectedError):
@@ -79,7 +72,7 @@ def test_robot(tmpdir, request, robot_type, mock):
del robot
# Test connecting (triggers manual calibration)
robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock)
robot = make_robot(**robot_kwargs)
robot.connect()
assert robot.is_connected
@@ -92,9 +85,7 @@ def test_robot(tmpdir, request, robot_type, mock):
robot.disconnect()
# Test teleop can run
robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock)
if overrides_calibration_dir is not None:
robot.calibration_dir = calibration_dir
robot = make_robot(**robot_kwargs)
robot.connect()
robot.teleop_step()