tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

if not '~cameras' in overrides

Browse Source
This commit is contained in:
Remi Cadene
2024-09-27 12:21:06 +02:00
parent bf7e906b70
commit 81f17d505e
1 changed files with 11 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
tests/utils.py
View File

@@ -277,26 +277,29 @@ def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False)
if robot_type == "koch": if robot_type == "koch":
overrides.append("+leader_arms.main.mock=true") overrides.append("+leader_arms.main.mock=true")
overrides.append("+follower_arms.main.mock=true") overrides.append("+follower_arms.main.mock=true")
overrides.append("+cameras.laptop.mock=true") if "~cameras" not in overrides:
overrides.append("+cameras.phone.mock=true") overrides.append("+cameras.laptop.mock=true")
overrides.append("+cameras.phone.mock=true")
elif robot_type == "koch_bimanual": elif robot_type == "koch_bimanual":
overrides.append("+leader_arms.left.mock=true") overrides.append("+leader_arms.left.mock=true")
overrides.append("+leader_arms.right.mock=true") overrides.append("+leader_arms.right.mock=true")
overrides.append("+follower_arms.left.mock=true") overrides.append("+follower_arms.left.mock=true")
overrides.append("+follower_arms.right.mock=true") overrides.append("+follower_arms.right.mock=true")
overrides.append("+cameras.laptop.mock=true") if "~cameras" not in overrides:
overrides.append("+cameras.phone.mock=true") overrides.append("+cameras.laptop.mock=true")
overrides.append("+cameras.phone.mock=true")
elif robot_type == "aloha": elif robot_type == "aloha":
overrides.append("+leader_arms.left.mock=true") overrides.append("+leader_arms.left.mock=true")
overrides.append("+leader_arms.right.mock=true") overrides.append("+leader_arms.right.mock=true")
overrides.append("+follower_arms.left.mock=true") overrides.append("+follower_arms.left.mock=true")
overrides.append("+follower_arms.right.mock=true") overrides.append("+follower_arms.right.mock=true")
overrides.append("+cameras.cam_high.mock=true") if "~cameras" not in overrides:
overrides.append("+cameras.cam_low.mock=true") overrides.append("+cameras.cam_high.mock=true")
overrides.append("+cameras.cam_left_wrist.mock=true") overrides.append("+cameras.cam_low.mock=true")
overrides.append("+cameras.cam_right_wrist.mock=true") overrides.append("+cameras.cam_left_wrist.mock=true")
overrides.append("+cameras.cam_right_wrist.mock=true")
else: else:
raise NotImplementedError(robot_type) raise NotImplementedError(robot_type)