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add mock=False

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This commit is contained in:
Remi Cadene
2024-09-27 12:02:14 +02:00
parent 8da08935d4
commit a7350d9b65
12 changed files with 344 additions and 420 deletions
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84
tests/test_control_robot.py
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@@ -27,33 +27,44 @@ from pathlib import Path
import pytest
from lerobot import available_robots
from lerobot.common.policies.factory import make_policy
from lerobot.common.utils.utils import init_hydra_config
from lerobot.scripts.control_robot import calibrate, get_available_arms, record, replay, teleoperate
from tests.test_robots import make_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_mock_robot, require_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot
def _test_teleoperate(robot_type):
robot = make_robot(robot_type)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_teleoperate(request, robot_type, mock):
robot = make_robot(robot_type, mock=mock)
teleoperate(robot, teleop_time_s=1)
teleoperate(robot, fps=30, teleop_time_s=1)
teleoperate(robot, fps=60, teleop_time_s=1)
del robot
def _test_calibrate(robot_type):
robot = make_robot(robot_type)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_calibrate(request, robot_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
robot = make_robot(robot_type, mock=mock)
calibrate(robot, arms=get_available_arms(robot))
del robot
def _test_record_without_cameras(tmpdir, robot_type):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_record_without_cameras(tmpdir, request, robot_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
root = Path(tmpdir)
repo_id = "lerobot/debug"
robot = make_robot(robot_type, overrides=["~cameras"])
robot = make_robot(robot_type, overrides=["~cameras"], mock=mock)
record(
robot,
fps=30,
@@ -68,14 +79,19 @@ def _test_record_without_cameras(tmpdir, robot_type):
)
def _test_record_and_replay_and_policy(tmpdir, robot_type):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
env_name = "koch_real"
policy_name = "act_koch_real"
root = Path(tmpdir)
repo_id = "lerobot/debug"
robot = make_robot(robot_type)
robot = make_robot(robot_type, mock=mock)
dataset = record(
robot,
fps=30,
@@ -115,51 +131,3 @@ def _test_record_and_replay_and_policy(tmpdir, robot_type):
)
del robot
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_teleoperate_mock(monkeypatch, robot_type):
_test_teleoperate(robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_teleoperate(request, robot_type):
_test_teleoperate(robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_calibrate_mock(monkeypatch, robot_type):
_test_calibrate(robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_calibrate(request, robot_type):
_test_calibrate(robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_record_without_cameras_mock(tmpdir, monkeypatch, robot_type):
_test_record_without_cameras(tmpdir, robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_record_without_cameras(tmpdir, request, robot_type):
_test_record_without_cameras(tmpdir, robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_record_and_replay_and_policy_mock(tmpdir, monkeypatch, robot_type):
_test_record_and_replay_and_policy(tmpdir, robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_record_and_replay_and_policy(tmpdir, request, robot_type):
_test_record_and_replay_and_policy(tmpdir, robot_type)