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Add test_record_and_resume

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This commit is contained in:
Simon Alibert
2025-05-08 17:54:58 +02:00
parent 95f9b45418
commit cb9cac6a1b
1 changed files with 9 additions and 1 deletions
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10
tests/test_control_robot.py
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@@ -24,7 +24,7 @@ def test_teleoperate():
assert actual_duration <= expected_duration * 1.1 assert actual_duration <= expected_duration * 1.1
def test_record(tmp_path): def test_record_and_resume(tmp_path):
robot_cfg = MockRobotConfig() robot_cfg = MockRobotConfig()
teleop_cfg = MockTeleopConfig() teleop_cfg = MockTeleopConfig()
dataset_cfg = DatasetRecordConfig( dataset_cfg = DatasetRecordConfig(
@@ -33,6 +33,7 @@ def test_record(tmp_path):
root=tmp_path / "record", root=tmp_path / "record",
num_episodes=1, num_episodes=1,
episode_time_s=0.1, episode_time_s=0.1,
reset_time_s=0,
push_to_hub=False, push_to_hub=False,
) )
cfg = RecordConfig( cfg = RecordConfig(
@@ -49,6 +50,13 @@ def test_record(tmp_path):
assert dataset.meta.total_frames == dataset.num_frames == 3 assert dataset.meta.total_frames == dataset.num_frames == 3
assert dataset.meta.total_tasks == 1 assert dataset.meta.total_tasks == 1
cfg.resume = True
dataset = record(cfg)
assert dataset.meta.total_episodes == dataset.num_episodes == 2
assert dataset.meta.total_frames == dataset.num_frames == 6
assert dataset.meta.total_tasks == 1
def test_record_and_replay(tmp_path): def test_record_and_replay(tmp_path):
robot_cfg = MockRobotConfig() robot_cfg = MockRobotConfig()