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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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28
tests/test_robots.py
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@@ -28,22 +28,26 @@ from pathlib import Path
import pytest
import torch
from lerobot import available_robots
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import make_robot, require_mock_robot, require_robot
from tests.utils import TEST_ROBOT_TYPES, make_robot, require_robot
def _test_robot(tmpdir, robot_type, mock):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_robot(tmpdir, request, robot_type, mock):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): add compatibility with other robots
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
if robot_type == "aloha" and mock:
# To simplify unit test, we do not rerun manual calibration for Aloha mock=True.
# Instead, we use the files from '.cache/calibration/aloha_default'
overrides_calibration_dir = None
else:
if mock:
request.getfixturevalue("patch_builtins_input")
# Create an empty calibration directory to trigger manual calibration
tmpdir = Path(tmpdir)
calibration_dir = tmpdir / robot_type
@@ -72,7 +76,7 @@ def _test_robot(tmpdir, robot_type, mock):
del robot
# Test connecting (triggers manual calibration)
robot = make_robot(robot_type, overrides=overrides_calibration_dir)
robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock)
robot.connect()
assert robot.is_connected
@@ -84,7 +88,7 @@ def _test_robot(tmpdir, robot_type, mock):
del robot
# Test teleop can run
robot = make_robot(robot_type, overrides=overrides_calibration_dir)
robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock)
if overrides_calibration_dir is not None:
robot.calibration_dir = calibration_dir
robot.connect()
@@ -133,15 +137,3 @@ def _test_robot(tmpdir, robot_type, mock):
for name in robot.cameras:
assert not robot.cameras[name].is_connected
del robot
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_robot_mock(tmpdir, monkeypatch, robot_type):
_test_robot(tmpdir, robot_type, mock=True)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_robot(tmpdir, request, robot_type):
_test_robot(tmpdir, robot_type, mock=False)