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Merge remote-tracking branch 'origin/main' into user/rcadene/2024_09_10_train_aloha

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This commit is contained in:
Remi Cadene
2024-10-03 17:16:59 +02:00
parent e58e59411a 26f97cfd17
commit 433e950348
8 changed files with 107 additions and 64 deletions
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47
tests/test_control_robot.py
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@@ -36,11 +36,20 @@ from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_r
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_teleoperate(request, robot_type, mock):
def test_teleoperate(tmpdir, request, robot_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
robot = make_robot(robot_type, mock=mock)
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
tmpdir = Path(tmpdir)
calibration_dir = tmpdir / robot_type
overrides = [f"calibration_dir={calibration_dir}"]
else:
# Use the default .cache/calibration folder when mock=False
overrides = None
robot = make_robot(robot_type, overrides=overrides, mock=mock)
teleoperate(robot, teleop_time_s=1)
teleoperate(robot, fps=30, teleop_time_s=1)
teleoperate(robot, fps=60, teleop_time_s=1)
@@ -53,6 +62,7 @@ def test_calibrate(tmpdir, request, robot_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
# 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}"]
@@ -65,13 +75,21 @@ def test_calibrate(tmpdir, request, robot_type, mock):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_record_without_cameras(tmpdir, request, robot_type, mock):
# Avoid using cameras
overrides = ["~cameras"]
if mock:
request.getfixturevalue("patch_builtins_input")
root = Path(tmpdir)
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = Path(tmpdir) / robot_type
overrides.append(f"calibration_dir={calibration_dir}")
root = Path(tmpdir) / "data"
repo_id = "lerobot/debug"
robot = make_robot(robot_type, overrides=["~cameras"], mock=mock)
robot = make_robot(robot_type, overrides=overrides, mock=mock)
record(
robot,
fps=30,
@@ -92,10 +110,24 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
root = Path(tmpdir)
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = Path(tmpdir) / robot_type
overrides = [f"calibration_dir={calibration_dir}"]
else:
# Use the default .cache/calibration folder when mock=False
overrides = None
if robot_type == "aloha":
pytest.skip("TODO(rcadene): enable test once aloha_real and act_aloha_real are merged")
env_name = "koch_real"
policy_name = "act_koch_real"
root = Path(tmpdir) / "data"
repo_id = "lerobot/debug"
robot = make_robot(robot_type, mock=mock)
robot = make_robot(robot_type, overrides=overrides, mock=mock)
dataset = record(
robot,
fps=30,
@@ -107,6 +139,8 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
push_to_hub=False,
# TODO(rcadene, aliberts): test video=True
video=False,
# TODO(rcadene): display cameras through cv2 sometimes crashes on mac
display_cameras=False,
)
replay(robot, episode=0, fps=30, root=root, repo_id=repo_id)
@@ -147,6 +181,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
run_compute_stats=False,
push_to_hub=False,
video=False,
display_cameras=False,
)
del robot