forked from tangger/lerobot
98 lines
2.7 KiB
Python
98 lines
2.7 KiB
Python
import time
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from lerobot.calibrate import CalibrateConfig, calibrate
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from lerobot.record import DatasetRecordConfig, RecordConfig, record
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from lerobot.replay import DatasetReplayConfig, ReplayConfig, replay
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from lerobot.teleoperate import TeleoperateConfig, teleoperate
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from tests.fixtures.constants import DUMMY_REPO_ID
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from tests.mocks.mock_robot import MockRobotConfig
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from tests.mocks.mock_teleop import MockTeleopConfig
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def test_calibrate():
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robot_cfg = MockRobotConfig()
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cfg = CalibrateConfig(device=robot_cfg)
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calibrate(cfg)
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def test_teleoperate():
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robot_cfg = MockRobotConfig()
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teleop_cfg = MockTeleopConfig()
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expected_duration = 0.1
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cfg = TeleoperateConfig(
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robot=robot_cfg,
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teleop=teleop_cfg,
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teleop_time_s=expected_duration,
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)
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start = time.perf_counter()
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teleoperate(cfg)
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actual_duration = time.perf_counter() - start
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assert actual_duration <= expected_duration * 1.1
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def test_record_and_resume(tmp_path):
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robot_cfg = MockRobotConfig()
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teleop_cfg = MockTeleopConfig()
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dataset_cfg = DatasetRecordConfig(
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repo_id=DUMMY_REPO_ID,
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single_task="Dummy task",
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root=tmp_path / "record",
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num_episodes=1,
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episode_time_s=0.1,
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reset_time_s=0,
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push_to_hub=False,
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)
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cfg = RecordConfig(
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robot=robot_cfg,
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dataset=dataset_cfg,
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teleop=teleop_cfg,
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play_sounds=False,
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)
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dataset = record(cfg)
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assert dataset.fps == 30
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assert dataset.meta.total_episodes == dataset.num_episodes == 1
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assert dataset.meta.total_frames == dataset.num_frames == 3
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assert dataset.meta.total_tasks == 1
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cfg.resume = True
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dataset = record(cfg)
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assert dataset.meta.total_episodes == dataset.num_episodes == 2
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assert dataset.meta.total_frames == dataset.num_frames == 6
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assert dataset.meta.total_tasks == 1
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def test_record_and_replay(tmp_path):
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robot_cfg = MockRobotConfig()
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teleop_cfg = MockTeleopConfig()
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record_dataset_cfg = DatasetRecordConfig(
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repo_id=DUMMY_REPO_ID,
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single_task="Dummy task",
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root=tmp_path / "record_and_replay",
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num_episodes=1,
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episode_time_s=0.1,
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push_to_hub=False,
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)
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record_cfg = RecordConfig(
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robot=robot_cfg,
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dataset=record_dataset_cfg,
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teleop=teleop_cfg,
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play_sounds=False,
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)
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replay_dataset_cfg = DatasetReplayConfig(
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repo_id=DUMMY_REPO_ID,
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episode=0,
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root=tmp_path / "record_and_replay",
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)
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replay_cfg = ReplayConfig(
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robot=robot_cfg,
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dataset=replay_dataset_cfg,
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play_sounds=False,
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)
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record(record_cfg)
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replay(replay_cfg)
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