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

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

Browse Source 
for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot]
2025-03-04 13:38:47 +00:00
committed by Michel Aractingi
parent bb69cb3c8c
commit 85fe8a3f4e
79 changed files with 2800 additions and 794 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
tests/utils.py
View File

@@ -47,7 +47,9 @@ for motor_type in available_motors:
OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
INTELREALSENSE_SERIAL_NUMBER = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_SERIAL_NUMBER", 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"],
@@ -57,7 +59,9 @@ 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"],
@@ -156,9 +160,13 @@ 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)
@@ -215,11 +223,17 @@ 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"):
@@ -239,11 +253,17 @@ 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.")
@@ -262,11 +282,17 @@ 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.")
@@ -285,7 +311,14 @@ 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: