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[pre-commit.ci] auto fixes from pre-commit.com hooks

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pre-commit-ci[bot]
2025-03-04 13:38:47 +00:00
parent d8a1758122
commit 584cad808e
108 changed files with 3894 additions and 1189 deletions
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77
tests/utils.py
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@@ -26,7 +26,9 @@ 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.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.factory import (
make_robot as make_robot_from_cfg,
)
from lerobot.common.robot_devices.robots.utils import Robot
from lerobot.common.utils.import_utils import is_package_available
from lerobot.common.utils.utils import init_hydra_config
@@ -52,9 +54,13 @@ 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_CAMERA_INDEX = int(
os.environ.get("LEROBOT_TEST_INTELREALSENSE_CAMERA_INDEX", 128422271614)
)
DYNAMIXEL_PORT = os.environ.get("LEROBOT_TEST_DYNAMIXEL_PORT", "/dev/tty.usbmodem575E0032081")
DYNAMIXEL_PORT = os.environ.get(
"LEROBOT_TEST_DYNAMIXEL_PORT", "/dev/tty.usbmodem575E0032081"
)
DYNAMIXEL_MOTORS = {
"shoulder_pan": [1, "xl430-w250"],
"shoulder_lift": [2, "xl430-w250"],
@@ -64,7 +70,9 @@ DYNAMIXEL_MOTORS = {
"gripper": [6, "xl330-m288"],
}
FEETECH_PORT = os.environ.get("LEROBOT_TEST_FEETECH_PORT", "/dev/tty.usbmodem585A0080971")
FEETECH_PORT = os.environ.get(
"LEROBOT_TEST_FEETECH_PORT", "/dev/tty.usbmodem585A0080971"
)
FEETECH_MOTORS = {
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
@@ -163,9 +171,13 @@ def require_package_arg(func):
if "required_packages" in arg_names:
# Get the index of 'required_packages' and retrieve the value from args
index = arg_names.index("required_packages")
required_packages = args[index] if len(args) > index else kwargs.get("required_packages")
required_packages = (
args[index] if len(args) > index else kwargs.get("required_packages")
)
else:
raise ValueError("Function does not have 'required_packages' as an argument.")
raise ValueError(
"Function does not have 'required_packages' as an argument."
)
if required_packages is None:
return func(*args, **kwargs)
@@ -222,11 +234,17 @@ def require_robot(func):
mock = kwargs.get("mock")
if robot_type is None:
raise ValueError("The 'robot_type' must be an argument of the test function.")
raise ValueError(
"The 'robot_type' must be an argument of the test function."
)
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
raise ValueError(
"The 'request' fixture must be an argument of the test function."
)
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
raise ValueError(
"The 'mock' variable must be an argument of the test function."
)
# Run test with a real robot. Skip test if robot connection fails.
if not mock and not request.getfixturevalue("is_robot_available"):
@@ -246,11 +264,17 @@ def require_camera(func):
mock = kwargs.get("mock")
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
raise ValueError(
"The 'request' fixture must be an argument of the test function."
)
if camera_type is None:
raise ValueError("The 'camera_type' must be an argument of the test function.")
raise ValueError(
"The 'camera_type' must be an argument of the test function."
)
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
raise ValueError(
"The 'mock' variable must be an argument of the test function."
)
if not mock and not request.getfixturevalue("is_camera_available"):
pytest.skip(f"A {camera_type} camera is not available.")
@@ -269,11 +293,17 @@ def require_motor(func):
mock = kwargs.get("mock")
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
raise ValueError(
"The 'request' fixture must be an argument of the test function."
)
if motor_type is None:
raise ValueError("The 'motor_type' must be an argument of the test function.")
raise ValueError(
"The 'motor_type' must be an argument of the test function."
)
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
raise ValueError(
"The 'mock' variable must be an argument of the test function."
)
if not mock and not request.getfixturevalue("is_motor_available"):
pytest.skip(f"A {motor_type} motor is not available.")
@@ -292,7 +322,14 @@ def mock_calibration_dir(calibration_dir):
"start_pos": [1442, 843, 2166, 2849, 1988, 1835],
"end_pos": [2440, 1869, -1106, -1848, -926, 3235],
"calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
"motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
"motor_names": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper",
],
}
Path(str(calibration_dir)).mkdir(parents=True, exist_ok=True)
with open(calibration_dir / "main_follower.json", "w") as f:
@@ -309,7 +346,9 @@ 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:
def make_robot(
robot_type: str, overrides: list[str] | None = None, mock=False
) -> Robot:
if mock:
overrides = [] if overrides is None else copy(overrides)
@@ -359,7 +398,9 @@ def make_camera(camera_type, **kwargs) -> Camera:
return OpenCVCamera(camera_index, **kwargs)
elif camera_type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
from lerobot.common.robot_devices.cameras.intelrealsense import (
IntelRealSenseCamera,
)
camera_index = kwargs.pop("camera_index", INTELREALSENSE_CAMERA_INDEX)
return IntelRealSenseCamera(camera_index, **kwargs)