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Improve control robot ; Add process to configure motor indices (#326)

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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Remi
2024-08-15 18:11:33 +02:00
committed by GitHub
parent 8c4643687c
commit bbe9057225
35 changed files with 2085 additions and 476 deletions
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9
tests/conftest.py
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@@ -15,7 +15,9 @@
# limitations under the License.
import pytest
from .utils import DEVICE
from lerobot.common.utils.utils import init_hydra_config
from .utils import DEVICE, KOCH_ROBOT_CONFIG_PATH
def pytest_collection_finish():
@@ -27,11 +29,12 @@ def is_koch_available():
try:
from lerobot.common.robot_devices.robots.factory import make_robot
robot = make_robot("koch")
robot_cfg = init_hydra_config(KOCH_ROBOT_CONFIG_PATH)
robot = make_robot(robot_cfg)
robot.connect()
del robot
return True
except Exception as e:
print("An alexander koch robot is not available.")
print("A koch robot is not available.")
print(e)
return False

40
tests/test_control_robot.py
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@@ -3,13 +3,20 @@ from pathlib import Path
from lerobot.common.policies.factory import make_policy
from lerobot.common.robot_devices.robots.factory import make_robot
from lerobot.common.utils.utils import init_hydra_config
from lerobot.scripts.control_robot import record_dataset, replay_episode, run_policy, teleoperate
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_koch
from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, KOCH_ROBOT_CONFIG_PATH, require_koch
def make_robot_(overrides=None):
robot_cfg = init_hydra_config(KOCH_ROBOT_CONFIG_PATH, overrides)
robot = make_robot(robot_cfg)
return robot
@require_koch
# `require_koch` uses `request` to access `is_koch_available` fixture
def test_teleoperate(request):
robot = make_robot("koch")
robot = make_robot_()
teleoperate(robot, teleop_time_s=1)
teleoperate(robot, fps=30, teleop_time_s=1)
teleoperate(robot, fps=60, teleop_time_s=1)
@@ -17,20 +24,35 @@ def test_teleoperate(request):
@require_koch
def test_record_dataset_and_replay_episode_and_run_policy(tmpdir, request):
robot_name = "koch"
def test_calibrate(request):
robot = make_robot_()
calibrate(robot)
del robot
@require_koch
def test_record_without_cameras(tmpdir, request):
root = Path(tmpdir)
repo_id = "lerobot/debug"
robot = make_robot_(overrides=["~cameras"])
record(robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2)
@require_koch
def test_record_and_replay_and_policy(tmpdir, request):
env_name = "koch_real"
policy_name = "act_koch_real"
root = Path(tmpdir)
repo_id = "lerobot/debug"
robot = make_robot(robot_name)
dataset = record_dataset(
robot = make_robot_()
dataset = record(
robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2
)
replay_episode(robot, episode=0, fps=30, root=root, repo_id=repo_id)
replay(robot, episode=0, fps=30, root=root, repo_id=repo_id)
cfg = init_hydra_config(
DEFAULT_CONFIG_PATH,
@@ -43,6 +65,6 @@ def test_record_dataset_and_replay_episode_and_run_policy(tmpdir, request):
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
run_policy(robot, policy, cfg, run_time_s=1)
record(robot, policy, cfg, run_time_s=1)
del robot

28
tests/test_datasets.py
View File

@@ -23,6 +23,7 @@ import einops
import pytest
import torch
from datasets import Dataset
from huggingface_hub import HfApi
from safetensors.torch import load_file
import lerobot
@@ -34,6 +35,7 @@ from lerobot.common.datasets.compute_stats import (
from lerobot.common.datasets.factory import make_dataset
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset, MultiLeRobotDataset
from lerobot.common.datasets.utils import (
create_branch,
flatten_dict,
hf_transform_to_torch,
load_previous_and_future_frames,
@@ -385,3 +387,29 @@ def test_aggregate_stats():
for agg_fn in ["mean", "min", "max"]:
assert torch.allclose(stats[data_key][agg_fn], einops.reduce(data, "n -> 1", agg_fn))
assert torch.allclose(stats[data_key]["std"], torch.std(data, correction=0))
@pytest.mark.skip("Requires internet access")
def test_create_branch():
api = HfApi()
repo_id = "cadene/test_create_branch"
repo_type = "dataset"
branch = "test"
ref = f"refs/heads/{branch}"
# Prepare a repo with a test branch
api.delete_repo(repo_id, repo_type=repo_type, missing_ok=True)
api.create_repo(repo_id, repo_type=repo_type)
create_branch(repo_id, repo_type=repo_type, branch=branch)
# Make sure the test branch exists
branches = api.list_repo_refs(repo_id, repo_type=repo_type).branches
refs = [branch.ref for branch in branches]
assert ref in refs
# Overwrite it
create_branch(repo_id, repo_type=repo_type, branch=branch)
# Clean
api.delete_repo(repo_id, repo_type=repo_type)

72
tests/test_motors.py
View File

@@ -1,33 +1,54 @@
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): test calibration
# TODO(rcadene): add compatibility with other motors bus
import time
import hydra
import numpy as np
import pytest
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import require_koch
from lerobot.common.utils.utils import init_hydra_config
from tests.utils import KOCH_ROBOT_CONFIG_PATH, require_koch
def make_motors_bus():
robot_cfg = init_hydra_config(KOCH_ROBOT_CONFIG_PATH)
# Instantiating a common motors structure.
# Here the one from Alexander Koch follower arm.
motors_bus = hydra.utils.instantiate(robot_cfg.leader_arms.main)
return motors_bus
@require_koch
def test_find_port(request):
from lerobot.common.robot_devices.motors.dynamixel import find_port
find_port()
@require_koch
def test_configure_motors_all_ids_1(request):
# This test expect the configuration was already correct.
motors_bus = make_motors_bus()
motors_bus.connect()
motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
motors_bus.set_bus_baudrate(9_600)
motors_bus.write("ID", [1] * len(motors_bus.motors))
del motors_bus
# Test configure
motors_bus = make_motors_bus()
motors_bus.connect()
assert motors_bus.are_motors_configured()
del motors_bus
@require_koch
def test_motors_bus(request):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): test calibration
# TODO(rcadene): add compatibility with other motors bus
from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
# Test instantiating a common motors structure.
# Here the one from Alexander Koch follower arm.
port = "/dev/tty.usbmodem575E0032081"
motors = {
# name: (index, model)
"shoulder_pan": (1, "xl430-w250"),
"shoulder_lift": (2, "xl430-w250"),
"elbow_flex": (3, "xl330-m288"),
"wrist_flex": (4, "xl330-m288"),
"wrist_roll": (5, "xl330-m288"),
"gripper": (6, "xl330-m288"),
}
motors_bus = DynamixelMotorsBus(port, motors)
motors_bus = make_motors_bus()
# Test reading and writting before connecting raises an error
with pytest.raises(RobotDeviceNotConnectedError):
@@ -41,7 +62,7 @@ def test_motors_bus(request):
del motors_bus
# Test connecting
motors_bus = DynamixelMotorsBus(port, motors)
motors_bus = make_motors_bus()
motors_bus.connect()
# Test connecting twice raises an error
@@ -52,7 +73,7 @@ def test_motors_bus(request):
motors_bus.write("Torque_Enable", 0)
values = motors_bus.read("Torque_Enable")
assert isinstance(values, np.ndarray)
assert len(values) == len(motors)
assert len(values) == len(motors_bus.motors)
assert (values == 0).all()
# Test writing torque on a specific motor
@@ -83,10 +104,3 @@ def test_motors_bus(request):
time.sleep(1)
new_values = motors_bus.read("Present_Position")
assert (new_values == values).all()
@require_koch
def test_find_port(request):
from lerobot.common.robot_devices.motors.dynamixel import find_port
find_port()

2
tests/utils.py
View File

@@ -23,6 +23,7 @@ from lerobot.common.utils.import_utils import is_package_available
# Pass this as the first argument to init_hydra_config.
DEFAULT_CONFIG_PATH = "lerobot/configs/default.yaml"
KOCH_ROBOT_CONFIG_PATH = "lerobot/configs/robot/koch.yaml"
DEVICE = "cuda" if torch.cuda.is_available() else "cpu"
@@ -161,6 +162,7 @@ def require_koch(func):
if request is None:
raise ValueError("The 'request' fixture must be passed to the test function as a parameter.")
# The function `is_koch_available` is defined in `tests/conftest.py`
if not request.getfixturevalue("is_koch_available"):
pytest.skip("An alexander koch robot is not available.")
return func(*args, **kwargs)