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This commit is contained in:
Remi Cadene
2024-07-10 14:11:53 +02:00
parent 68a561570c
commit dd7bce7563
11 changed files with 148 additions and 89 deletions
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24
tests/test_robots.py
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@@ -1,7 +1,9 @@
from pathlib import Path
import pickle
from pathlib import Path
import pytest
import torch
from lerobot.common.robot_devices.robots.factory import make_robot
from lerobot.common.robot_devices.robots.koch import KochRobot
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
@@ -13,7 +15,24 @@ def test_robot(tmpdir):
# TODO(rcadene): add compatibility with other robots
# Save calibration preset
calibration = {'follower_main': {'shoulder_pan': (-2048, False), 'shoulder_lift': (2048, True), 'elbow_flex': (-1024, False), 'wrist_flex': (2048, True), 'wrist_roll': (2048, True), 'gripper': (2048, True)}, 'leader_main': {'shoulder_pan': (-2048, False), 'shoulder_lift': (1024, True), 'elbow_flex': (2048, True), 'wrist_flex': (-2048, False), 'wrist_roll': (2048, True), 'gripper': (2048, True)}}
calibration = {
"follower_main": {
"shoulder_pan": (-2048, False),
"shoulder_lift": (2048, True),
"elbow_flex": (-1024, False),
"wrist_flex": (2048, True),
"wrist_roll": (2048, True),
"gripper": (2048, True),
},
"leader_main": {
"shoulder_pan": (-2048, False),
"shoulder_lift": (1024, True),
"elbow_flex": (2048, True),
"wrist_flex": (-2048, False),
"wrist_roll": (2048, True),
"gripper": (2048, True),
},
}
tmpdir = Path(tmpdir)
calibration_path = tmpdir / "calibration.pkl"
calibration_path.parent.mkdir(parents=True, exist_ok=True)
@@ -105,4 +124,3 @@ def test_robot(tmpdir):
for name in robot.cameras:
assert not robot.cameras[name].is_connected
del robot