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64 lines
2.4 KiB
64 lines
2.4 KiB
from decoupled_wbc.control.main.teleop.configs.configs import SyncSimDataCollectionConfig
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from decoupled_wbc.control.main.teleop.run_sync_sim_data_collection import (
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main as data_collection_main,
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)
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def test_sim_data_collection_unit(robot_name="G1", task_name="GroundOnly"):
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"""
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Fast CI unit test for simulation data collection (50 steps, no tracking checks).
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This test validates that:
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1. Data collection completes successfully
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2. Upper body joints are moving (velocity check)
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Note: This test runs for only 50 steps and does not perform end effector tracking validation
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for faster CI execution.
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"""
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config = SyncSimDataCollectionConfig()
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config.robot = robot_name
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config.task_name = task_name
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config.enable_visualization = False
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config.enable_real_device = False
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config.enable_onscreen = False
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config.save_img_obs = True
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config.ci_test = True
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config.ci_test_mode = "unit"
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config.replay_data_path = "decoupled_wbc/tests/replay_data/all_joints_raw_data_replay.pkl"
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config.remove_existing_dir = True
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config.enable_gravity_compensation = True
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res = data_collection_main(config)
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assert res, "Data collection did not pass for all datasets"
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def test_sim_data_collection_pre_merge(robot_name="G1", task_name="GroundOnly"):
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"""
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Pre-merge test for simulation data collection with end effector tracking validation (500 steps).
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This test validates that:
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1. Data collection completes successfully
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2. Upper body joints are moving (velocity check)
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3. End effector tracking error is within thresholds:
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- G1 robots:
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Max position error < 7cm (0.07m), Max rotation error < 17°,
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Average position error < 5cm (0.05m), Average rotation error < 12°
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"""
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config = SyncSimDataCollectionConfig()
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config.robot = robot_name
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config.task_name = task_name
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config.enable_visualization = False
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config.enable_real_device = False
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config.enable_onscreen = False
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config.save_img_obs = True
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config.ci_test = True
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config.ci_test_mode = "pre_merge"
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config.replay_data_path = "decoupled_wbc/tests/replay_data/all_joints_raw_data_replay.pkl"
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config.remove_existing_dir = True
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config.enable_gravity_compensation = True
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res = data_collection_main(config)
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assert res, "Data collection did not pass for all datasets"
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if __name__ == "__main__":
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# Run unit tests for fast CI
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test_sim_data_collection_unit("G1", "GroundOnly")
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