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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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31
tests/utils.py
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@@ -21,11 +21,12 @@ import torch
from lerobot.common.utils.import_utils import is_package_available
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"
KOCH_ROBOT_CONFIG_PATH = "lerobot/configs/robot/koch.yaml"
DEVICE = "cuda" if torch.cuda.is_available() else "cpu"
ROBOT_CONFIG_PATH_TEMPLATE = "lerobot/configs/robot/{robot}.yaml"
def require_x86_64_kernel(func):
@@ -150,21 +151,35 @@ def require_package(package_name):
return decorator
def require_koch(func):
def require_robot(func):
"""
Decorator that skips the test if an alexander koch robot is not available
Decorator that skips the test if a robot is not available
The decorated function must have two arguments `request` and `robot_type`.
Example of usage:
```python
@pytest.mark.parametrize(
"robot_type", ["koch", "aloha"]
)
@require_robot
def test_require_robot(request, robot_type):
pass
```
"""
@wraps(func)
def wrapper(*args, **kwargs):
# Access the pytest request context to get the is_koch_available fixture
# Access the pytest request context to get the is_robot_available fixture
request = kwargs.get("request")
robot_type = kwargs.get("robot_type")
if request is None:
raise ValueError("The 'request' fixture must be passed to the test function as a parameter.")
# The function `is_koch_available` is defined in `tests/conftest.py`
if not request.getfixturevalue("is_koch_available"):
pytest.skip("An alexander koch robot is not available.")
# The function `is_robot_available` is defined in `tests/conftest.py`
if not request.getfixturevalue("is_robot_available"):
pytest.skip(f"A {robot_type} robot is not available.")
return func(*args, **kwargs)
return wrapper