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lerobot
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fix tests

This commit is contained in:
Remi Cadene 2024-07-26 17:07:09 +02:00
parent 5a16163790
commit bf2fc099cc
1 changed files with 14 additions and 9 deletions
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23
tests/test_control_robot.py
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@ -3,13 +3,19 @@ from pathlib import Path
from lerobot.common.policies.factory import make_policy from lerobot.common.policies.factory import make_policy
from lerobot.common.robot_devices.robots.factory import make_robot from lerobot.common.robot_devices.robots.factory import make_robot
from lerobot.common.utils.utils import init_hydra_config from lerobot.common.utils.utils import init_hydra_config
from lerobot.scripts.control_robot import record_dataset, replay_episode, run_policy, teleoperate from lerobot.scripts.control_robot import record, replay, teleoperate
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_koch from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, KOCH_ROBOT_CONFIG_PATH, require_koch
def make_robot_():
robot_cfg = init_hydra_config(KOCH_ROBOT_CONFIG_PATH)
robot = make_robot(robot_cfg)
return robot
@require_koch @require_koch
def test_teleoperate(request): def test_teleoperate(request):
robot = make_robot("koch") robot = make_robot_()
teleoperate(robot, teleop_time_s=1) teleoperate(robot, teleop_time_s=1)
teleoperate(robot, fps=30, teleop_time_s=1) teleoperate(robot, fps=30, teleop_time_s=1)
teleoperate(robot, fps=60, teleop_time_s=1) teleoperate(robot, fps=60, teleop_time_s=1)
@ -17,20 +23,19 @@ def test_teleoperate(request):
@require_koch @require_koch
def test_record_dataset_and_replay_episode_and_run_policy(tmpdir, request): def test_record_and_replay_and_policy(tmpdir, request):
robot_name = "koch"
env_name = "koch_real" env_name = "koch_real"
policy_name = "act_koch_real" policy_name = "act_koch_real"
root = Path(tmpdir) root = Path(tmpdir)
repo_id = "lerobot/debug" repo_id = "lerobot/debug"
robot = make_robot(robot_name) robot = make_robot_()
dataset = record_dataset( dataset = record(
robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2 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( cfg = init_hydra_config(
DEFAULT_CONFIG_PATH, DEFAULT_CONFIG_PATH,
@ -43,6 +48,6 @@ def test_record_dataset_and_replay_episode_and_run_policy(tmpdir, request):
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats) 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 del robot