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Control aloha robot natively (#316)

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-09-04 19:28:05 +02:00
committed by GitHub
parent 27ba2951d1
commit 429a463aff
32 changed files with 898 additions and 390 deletions
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52
tests/test_motors.py
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@@ -1,3 +1,13 @@
"""
Tests meant to be used locally and launched manually.
Example usage:
```bash
pytest -sx tests/test_motors.py::test_find_port
pytest -sx tests/test_motors.py::test_motors_bus
```
"""
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): test calibration
@@ -5,34 +15,41 @@
import time
import hydra
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.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.common.utils.utils import init_hydra_config
from tests.utils import KOCH_ROBOT_CONFIG_PATH, require_koch
from tests.utils import ROBOT_CONFIG_PATH_TEMPLATE, require_robot
def make_motors_bus():
robot_cfg = init_hydra_config(KOCH_ROBOT_CONFIG_PATH)
# Instantiating a common motors structure.
# Here the one from Alexander Koch follower arm.
motors_bus = hydra.utils.instantiate(robot_cfg.leader_arms.main)
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
@require_koch
def test_find_port(request):
@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
find_port()
@require_koch
def test_configure_motors_all_ids_1(request):
@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()
motors_bus = make_motors_bus(robot_type)
motors_bus.connect()
motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
motors_bus.set_bus_baudrate(9_600)
@@ -40,15 +57,16 @@ def test_configure_motors_all_ids_1(request):
del motors_bus
# Test configure
motors_bus = make_motors_bus()
motors_bus = make_motors_bus(robot_type)
motors_bus.connect()
assert motors_bus.are_motors_configured()
del motors_bus
@require_koch
def test_motors_bus(request):
motors_bus = make_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)
# Test reading and writting before connecting raises an error
with pytest.raises(RobotDeviceNotConnectedError):
@@ -62,7 +80,7 @@ def test_motors_bus(request):
del motors_bus
# Test connecting
motors_bus = make_motors_bus()
motors_bus = make_motors_bus(robot_type)
motors_bus.connect()
# Test connecting twice raises an error