166 lines
4.4 KiB
Python
166 lines
4.4 KiB
Python
"""
|
|
Tests for physical robots and their mocked versions.
|
|
If the physical robots are not connected to the computer, or not working,
|
|
the test will be skipped.
|
|
|
|
Example of running a specific test:
|
|
```bash
|
|
pytest -sx tests/test_control_robot.py::test_teleoperate
|
|
```
|
|
|
|
Example of running test on real robots connected to the computer:
|
|
```bash
|
|
pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch-False]'
|
|
pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch_bimanual-False]'
|
|
pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-False]'
|
|
```
|
|
|
|
Example of running test on a mocked version of robots:
|
|
```bash
|
|
pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch-True]'
|
|
pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch_bimanual-True]'
|
|
pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-True]'
|
|
```
|
|
"""
|
|
|
|
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
|
|
|
|
|
|
def _test_teleoperate(robot_type):
|
|
robot = make_robot(robot_type)
|
|
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)
|
|
calibrate(robot, arms=get_available_arms(robot))
|
|
del robot
|
|
|
|
|
|
def _test_record_without_cameras(tmpdir, robot_type):
|
|
root = Path(tmpdir)
|
|
repo_id = "lerobot/debug"
|
|
|
|
robot = make_robot(robot_type, overrides=["~cameras"])
|
|
record(
|
|
robot,
|
|
fps=30,
|
|
root=root,
|
|
repo_id=repo_id,
|
|
warmup_time_s=1,
|
|
episode_time_s=1,
|
|
num_episodes=2,
|
|
run_compute_stats=False,
|
|
push_to_hub=False,
|
|
video=False,
|
|
)
|
|
|
|
|
|
def _test_record_and_replay_and_policy(tmpdir, robot_type):
|
|
env_name = "koch_real"
|
|
policy_name = "act_koch_real"
|
|
|
|
root = Path(tmpdir)
|
|
repo_id = "lerobot/debug"
|
|
|
|
robot = make_robot(robot_type)
|
|
dataset = record(
|
|
robot,
|
|
fps=30,
|
|
root=root,
|
|
repo_id=repo_id,
|
|
warmup_time_s=1,
|
|
episode_time_s=1,
|
|
num_episodes=2,
|
|
push_to_hub=False,
|
|
# TODO(rcadene, aliberts): test video=True
|
|
video=False,
|
|
)
|
|
|
|
replay(robot, episode=0, fps=30, root=root, repo_id=repo_id)
|
|
|
|
cfg = init_hydra_config(
|
|
DEFAULT_CONFIG_PATH,
|
|
overrides=[
|
|
f"env={env_name}",
|
|
f"policy={policy_name}",
|
|
f"device={DEVICE}",
|
|
],
|
|
)
|
|
|
|
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
|
|
|
|
record(
|
|
robot,
|
|
policy,
|
|
cfg,
|
|
warmup_time_s=1,
|
|
episode_time_s=1,
|
|
num_episodes=2,
|
|
run_compute_stats=False,
|
|
push_to_hub=False,
|
|
video=False,
|
|
)
|
|
|
|
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)
|