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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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66
tests/test_robots.py
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@@ -1,54 +1,52 @@
import pickle
"""
Tests meant to be used locally and launched manually.
Example usage:
```bash
pytest -sx tests/test_robots.py::test_robot
```
"""
from pathlib import Path
import pytest
import torch
from lerobot.common.robot_devices.robots.factory import make_robot
from lerobot import available_robots
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.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import require_koch
from lerobot.common.utils.utils import init_hydra_config
from tests.utils import ROBOT_CONFIG_PATH_TEMPLATE, require_robot
@require_koch
def test_robot(tmpdir, request):
def make_robot(robot_type: str, overrides: list[str] | None = None) -> Robot:
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
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_robot(tmpdir, request, robot_type):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): add compatibility with other robots
from lerobot.common.robot_devices.robots.koch import KochRobot
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
# Save calibration preset
calibration = {
"follower_main": {
"shoulder_pan": (-2048, False),
"shoulder_lift": (2048, True),
"elbow_flex": (-1024, False),
"wrist_flex": (2048, True),
"wrist_roll": (2048, True),
"gripper": (2048, True),
},
"leader_main": {
"shoulder_pan": (-2048, False),
"shoulder_lift": (1024, True),
"elbow_flex": (2048, True),
"wrist_flex": (-2048, False),
"wrist_roll": (2048, True),
"gripper": (2048, True),
},
}
tmpdir = Path(tmpdir)
calibration_path = tmpdir / "calibration.pkl"
calibration_path.parent.mkdir(parents=True, exist_ok=True)
with open(calibration_path, "wb") as f:
pickle.dump(calibration, f)
calibration_dir = tmpdir / robot_type
# Test connecting without devices raises an error
robot = KochRobot()
robot = ManipulatorRobot()
with pytest.raises(ValueError):
robot.connect()
del robot
# Test using robot before connecting raises an error
robot = KochRobot()
robot = ManipulatorRobot()
with pytest.raises(RobotDeviceNotConnectedError):
robot.teleop_step()
with pytest.raises(RobotDeviceNotConnectedError):
@@ -64,9 +62,7 @@ def test_robot(tmpdir, request):
del robot
# Test connecting
robot = make_robot("koch")
# TODO(rcadene): proper monkey patch
robot.calibration_path = calibration_path
robot = make_robot(robot_type, overrides=[f"calibration_dir={calibration_dir}"])
robot.connect() # run the manual calibration precedure
assert robot.is_connected
@@ -78,8 +74,8 @@ def test_robot(tmpdir, request):
del robot
# Test teleop can run
robot = make_robot("koch")
robot.calibration_path = calibration_path
robot = make_robot(robot_type, overrides=[f"calibration_dir={calibration_dir}"])
robot.calibration_dir = calibration_dir
robot.connect()
robot.teleop_step()