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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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80
tests/utils.py
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@@ -16,7 +16,6 @@
import json
import os
import platform
from copy import copy
from functools import wraps
from pathlib import Path
@@ -25,18 +24,12 @@ 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.robots.factory import make_robot as make_robot_from_cfg
from lerobot.common.robot_devices.robots.utils import Robot
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
from lerobot.common.utils.utils import init_hydra_config
DEVICE = "cuda" if torch.cuda.is_available() else "cpu"
# Pass this as the first argument to init_hydra_config.
DEFAULT_CONFIG_PATH = "lerobot/configs/default.yaml"
ROBOT_CONFIG_PATH_TEMPLATE = "lerobot/configs/robot/{robot}.yaml"
DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu"
TEST_ROBOT_TYPES = []
for robot_type in available_robots:
@@ -52,7 +45,7 @@ for motor_type in available_motors:
# Camera indices used for connecting physical cameras
OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
INTELREALSENSE_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_CAMERA_INDEX", 128422271614))
INTELREALSENSE_SERIAL_NUMBER = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_SERIAL_NUMBER", 128422271614))
DYNAMIXEL_PORT = os.environ.get("LEROBOT_TEST_DYNAMIXEL_PORT", "/dev/tty.usbmodem575E0032081")
DYNAMIXEL_MOTORS = {
@@ -309,79 +302,30 @@ def mock_calibration_dir(calibration_dir):
json.dump(example_calib, f)
def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False) -> Robot:
if mock:
overrides = [] if overrides is None else copy(overrides)
# Explicitely add mock argument to the cameras and set it to true
# TODO(rcadene, aliberts): redesign when we drop hydra
if robot_type in ["koch", "so100", "moss"]:
overrides.append("+leader_arms.main.mock=true")
overrides.append("+follower_arms.main.mock=true")
if "~cameras" not in overrides:
overrides.append("+cameras.laptop.mock=true")
overrides.append("+cameras.phone.mock=true")
elif robot_type == "koch_bimanual":
overrides.append("+leader_arms.left.mock=true")
overrides.append("+leader_arms.right.mock=true")
overrides.append("+follower_arms.left.mock=true")
overrides.append("+follower_arms.right.mock=true")
if "~cameras" not in overrides:
overrides.append("+cameras.laptop.mock=true")
overrides.append("+cameras.phone.mock=true")
elif robot_type == "aloha":
overrides.append("+leader_arms.left.mock=true")
overrides.append("+leader_arms.right.mock=true")
overrides.append("+follower_arms.left.mock=true")
overrides.append("+follower_arms.right.mock=true")
if "~cameras" not in overrides:
overrides.append("+cameras.cam_high.mock=true")
overrides.append("+cameras.cam_low.mock=true")
overrides.append("+cameras.cam_left_wrist.mock=true")
overrides.append("+cameras.cam_right_wrist.mock=true")
else:
raise NotImplementedError(robot_type)
config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type)
robot_cfg = init_hydra_config(config_path, overrides)
robot = make_robot_from_cfg(robot_cfg)
return robot
def make_camera(camera_type, **kwargs) -> Camera:
# TODO(rcadene, aliberts): remove this dark pattern that overrides
def make_camera(camera_type: str, **kwargs) -> Camera:
if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
camera_index = kwargs.pop("camera_index", OPENCV_CAMERA_INDEX)
return OpenCVCamera(camera_index, **kwargs)
return make_camera_device(camera_type, camera_index=camera_index, **kwargs)
elif camera_type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
camera_index = kwargs.pop("camera_index", INTELREALSENSE_CAMERA_INDEX)
return IntelRealSenseCamera(camera_index, **kwargs)
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":
from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
port = kwargs.pop("port", DYNAMIXEL_PORT)
motors = kwargs.pop("motors", DYNAMIXEL_MOTORS)
return DynamixelMotorsBus(port, motors, **kwargs)
return make_motors_bus_device(motor_type, port=port, motors=motors, **kwargs)
elif motor_type == "feetech":
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
port = kwargs.pop("port", FEETECH_PORT)
motors = kwargs.pop("motors", FEETECH_MOTORS)
return FeetechMotorsBus(port, motors, **kwargs)
return make_motors_bus_device(motor_type, port=port, motors=motors, **kwargs)
else:
raise ValueError(f"The motor type '{motor_type}' is not valid.")