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

Organize test folders (#856)

Browse Source 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Simon Alibert
2025-03-13 14:05:55 +01:00
committed by GitHub
parent a36ed39487
commit 974028bd28
79 changed files with 63 additions and 106 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
lerobot/common/robot_devices/cameras/intelrealsense.py
View File

@@ -48,7 +48,7 @@ def find_cameras(raise_when_empty=True, mock=False) -> list[dict]:
connected to the computer.
"""
if mock:
import tests.mock_pyrealsense2 as rs
import tests.cameras.mock_pyrealsense2 as rs
else:
import pyrealsense2 as rs
@@ -100,7 +100,7 @@ def save_images_from_cameras(
serial_numbers = [cam["serial_number"] for cam in camera_infos]
if mock:
import tests.mock_cv2 as cv2
import tests.cameras.mock_cv2 as cv2
else:
import cv2
@@ -253,7 +253,7 @@ class IntelRealSenseCamera:
self.logs = {}
if self.mock:
import tests.mock_cv2 as cv2
import tests.cameras.mock_cv2 as cv2
else:
import cv2
@@ -287,7 +287,7 @@ class IntelRealSenseCamera:
)
if self.mock:
import tests.mock_pyrealsense2 as rs
import tests.cameras.mock_pyrealsense2 as rs
else:
import pyrealsense2 as rs
@@ -375,7 +375,7 @@ class IntelRealSenseCamera:
)
if self.mock:
import tests.mock_cv2 as cv2
import tests.cameras.mock_cv2 as cv2
else:
import cv2

8
lerobot/common/robot_devices/cameras/opencv.py
View File

@@ -80,7 +80,7 @@ def _find_cameras(
possible_camera_ids: list[int | str], raise_when_empty=False, mock=False
) -> list[int | str]:
if mock:
import tests.mock_cv2 as cv2
import tests.cameras.mock_cv2 as cv2
else:
import cv2
@@ -269,7 +269,7 @@ class OpenCVCamera:
self.logs = {}
if self.mock:
import tests.mock_cv2 as cv2
import tests.cameras.mock_cv2 as cv2
else:
import cv2
@@ -286,7 +286,7 @@ class OpenCVCamera:
raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.")
if self.mock:
import tests.mock_cv2 as cv2
import tests.cameras.mock_cv2 as cv2
else:
import cv2
@@ -398,7 +398,7 @@ class OpenCVCamera:
# so we convert the image color from BGR to RGB.
if requested_color_mode == "rgb":
if self.mock:
import tests.mock_cv2 as cv2
import tests.cameras.mock_cv2 as cv2
else:
import cv2

12
lerobot/common/robot_devices/motors/dynamixel.py
View File

@@ -332,7 +332,7 @@ class DynamixelMotorsBus:
)
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -356,7 +356,7 @@ class DynamixelMotorsBus:
def reconnect(self):
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -646,7 +646,7 @@ class DynamixelMotorsBus:
def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -691,7 +691,7 @@ class DynamixelMotorsBus:
start_time = time.perf_counter()
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -757,7 +757,7 @@ class DynamixelMotorsBus:
def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl
@@ -793,7 +793,7 @@ class DynamixelMotorsBus:
start_time = time.perf_counter()
if self.mock:
import tests.mock_dynamixel_sdk as dxl
import tests.motors.mock_dynamixel_sdk as dxl
else:
import dynamixel_sdk as dxl

12
lerobot/common/robot_devices/motors/feetech.py
View File

@@ -313,7 +313,7 @@ class FeetechMotorsBus:
)
if self.mock:
import tests.mock_scservo_sdk as scs
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
@@ -337,7 +337,7 @@ class FeetechMotorsBus:
def reconnect(self):
if self.mock:
import tests.mock_scservo_sdk as scs
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
@@ -664,7 +664,7 @@ class FeetechMotorsBus:
def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
if self.mock:
import tests.mock_scservo_sdk as scs
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
@@ -702,7 +702,7 @@ class FeetechMotorsBus:
def read(self, data_name, motor_names: str | list[str] | None = None):
if self.mock:
import tests.mock_scservo_sdk as scs
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
@@ -782,7 +782,7 @@ class FeetechMotorsBus:
def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
if self.mock:
import tests.mock_scservo_sdk as scs
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs
@@ -818,7 +818,7 @@ class FeetechMotorsBus:
start_time = time.perf_counter()
if self.mock:
import tests.mock_scservo_sdk as scs
import tests.motors.mock_scservo_sdk as scs
else:
import scservo_sdk as scs