49 lines
1.4 KiB
Python
49 lines
1.4 KiB
Python
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from pathlib import Path
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from lerobot.common.policies.factory import make_policy
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from lerobot.common.robot_devices.robots.factory import make_robot
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from lerobot.common.utils.utils import init_hydra_config
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from lerobot.scripts.control_robot import record_dataset, replay_episode, run_policy, teleoperate
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from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_koch
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@require_koch
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def test_teleoperate(request):
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robot = make_robot("koch")
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teleoperate(robot, teleop_time_s=1)
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teleoperate(robot, fps=30, teleop_time_s=1)
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teleoperate(robot, fps=60, teleop_time_s=1)
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del robot
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@require_koch
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def test_record_dataset_and_replay_episode_and_run_policy(tmpdir, request):
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robot_name = "koch"
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env_name = "koch_real"
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policy_name = "act_koch_real"
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root = Path(tmpdir)
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repo_id = "lerobot/debug"
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robot = make_robot(robot_name)
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dataset = record_dataset(
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robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2
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)
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replay_episode(robot, episode=0, fps=30, root=root, repo_id=repo_id)
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cfg = init_hydra_config(
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DEFAULT_CONFIG_PATH,
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overrides=[
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f"env={env_name}",
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f"policy={policy_name}",
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f"device={DEVICE}",
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],
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)
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policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
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run_policy(robot, policy, cfg, run_time_s=1)
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del robot
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