6a3d57031a
* Start adding Reachy 2 (no camera) * Fix joint shape * Remove print * Modify observation_features * Fix observation state * Try adding a fake Reachy teleoperator * Saving test scripts * Add reachy2camera to cameras * Add teleop_left camera to observation * Create test_reachy2_camera.py * Update utils.py * Add all rgb cameras * Future depth work * Try adding mobile_base velocity * Update tests * Update data_acquisition_server.py * Update with use_external_commands * Replay * Usable with or without mobile base * No need for new isntance * Use same ip for cameras * Remove useless imports * Add resume * Divide joints in multiple dicts * Divide joinits into several dicts in teleoperator * Fix forgotten method call * Create test_robot_client.py * Open gripper on start * Add arguments for cameras * Modify get_frame() requested size * Call generate_joints_dict on _init_ * black + isort * Add reachy2 in imports * Add reachy2 dependencies * Add documentation * Update reachy2.mdx * Update reachy2.mdx * Clean files and add types * Fix type in send_action * Remove print * Delete test files * Clean code * Update cameras * Disconnect from camera * Run pre-commit hooks * Update pyproject.toml * Create test_reachy2.py * Fix generate_joints * Update test_reachy2.py * Update send_action test * Update reachy2_cameras depth + CameraManager * Update reachy2_camera tests * Remove useless import and args * Rename reachy2_teleoperator * Create test_reachy2_teleoperator.py * Fix remainging fake_teleoperator * Remove useless elements * Mock cameras in test_reachy2 * Delete commented lines * Add use_present_position to teleoperator * Add cameras tests * Add check no part + test * Use disable_torque_on_disconnect * Use odometry for vel with present_position * Update documentation * Fix vel value type * Use ensure_safe_goal_position * Import joints dict from classes * Update reachy2.mdx * Update reachy2.mdx * Update minimal version * Update minimal version * fix(tests) fixes for reachy2 tests; removing reachy2 references from the script * Add reachy2_sdk fake as plugins --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
90 lines
2.6 KiB
Python
90 lines
2.6 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import traceback
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import pytest
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from serial import SerialException
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from lerobot.configs.types import FeatureType, PolicyFeature
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from tests.utils import DEVICE
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# Import fixture modules as plugins
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pytest_plugins = [
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"tests.fixtures.dataset_factories",
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"tests.fixtures.files",
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"tests.fixtures.hub",
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"tests.fixtures.optimizers",
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"tests.plugins.reachy2_sdk",
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]
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def pytest_collection_finish():
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print(f"\nTesting with {DEVICE=}")
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def _check_component_availability(component_type, available_components, make_component):
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"""Generic helper to check if a hardware component is available"""
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if component_type not in available_components:
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raise ValueError(
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f"The {component_type} type is not valid. Expected one of these '{available_components}'"
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)
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try:
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component = make_component(component_type)
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component.connect()
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del component
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return True
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except Exception as e:
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print(f"\nA {component_type} is not available.")
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if isinstance(e, ModuleNotFoundError):
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print(f"\nInstall module '{e.name}'")
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elif isinstance(e, SerialException):
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print("\nNo physical device detected.")
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elif isinstance(e, ValueError) and "camera_index" in str(e):
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print("\nNo physical camera detected.")
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else:
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traceback.print_exc()
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return False
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@pytest.fixture
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def patch_builtins_input(monkeypatch):
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def print_text(text=None):
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if text is not None:
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print(text)
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monkeypatch.setattr("builtins.input", print_text)
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@pytest.fixture
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def policy_feature_factory():
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"""PolicyFeature factory"""
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def _pf(ft: FeatureType, shape: tuple[int, ...]) -> PolicyFeature:
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return PolicyFeature(type=ft, shape=shape)
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return _pf
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def assert_contract_is_typed(features: dict[str, PolicyFeature]) -> None:
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assert isinstance(features, dict)
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assert all(isinstance(k, str) for k in features.keys())
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assert all(isinstance(v, PolicyFeature) for v in features.values())
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