Hardware API redesign (#777)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <steven.palma@huggingface.co> Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com> Co-authored-by: Pepijn <pepijn@huggingface.co>
2025-06-05 17:48:43 +02:00
parent b536f47e3f
commit e23b41e79a
247 changed files with 14442 additions and 13550 deletions
--- a/tests/test_control_robot.py
+++ b/tests/test_control_robot.py
@@ -0,0 +1,97 @@
+import time
+
+from lerobot.calibrate import CalibrateConfig, calibrate
+from lerobot.record import DatasetRecordConfig, RecordConfig, record
+from lerobot.replay import DatasetReplayConfig, ReplayConfig, replay
+from lerobot.teleoperate import TeleoperateConfig, teleoperate
+from tests.fixtures.constants import DUMMY_REPO_ID
+from tests.mocks.mock_robot import MockRobotConfig
+from tests.mocks.mock_teleop import MockTeleopConfig
+
+
+def test_calibrate():
+    robot_cfg = MockRobotConfig()
+    cfg = CalibrateConfig(robot=robot_cfg)
+    calibrate(cfg)
+
+
+def test_teleoperate():
+    robot_cfg = MockRobotConfig()
+    teleop_cfg = MockTeleopConfig()
+    expected_duration = 0.1
+    cfg = TeleoperateConfig(
+        robot=robot_cfg,
+        teleop=teleop_cfg,
+        teleop_time_s=expected_duration,
+    )
+    start = time.perf_counter()
+    teleoperate(cfg)
+    actual_duration = time.perf_counter() - start
+
+    assert actual_duration <= expected_duration * 1.1
+
+
+def test_record_and_resume(tmp_path):
+    robot_cfg = MockRobotConfig()
+    teleop_cfg = MockTeleopConfig()
+    dataset_cfg = DatasetRecordConfig(
+        repo_id=DUMMY_REPO_ID,
+        single_task="Dummy task",
+        root=tmp_path / "record",
+        num_episodes=1,
+        episode_time_s=0.1,
+        reset_time_s=0,
+        push_to_hub=False,
+    )
+    cfg = RecordConfig(
+        robot=robot_cfg,
+        dataset=dataset_cfg,
+        teleop=teleop_cfg,
+        play_sounds=False,
+    )
+
+    dataset = record(cfg)
+
+    assert dataset.fps == 30
+    assert dataset.meta.total_episodes == dataset.num_episodes == 1
+    assert dataset.meta.total_frames == dataset.num_frames == 3
+    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):
+    robot_cfg = MockRobotConfig()
+    teleop_cfg = MockTeleopConfig()
+    record_dataset_cfg = DatasetRecordConfig(
+        repo_id=DUMMY_REPO_ID,
+        single_task="Dummy task",
+        root=tmp_path / "record_and_replay",
+        num_episodes=1,
+        episode_time_s=0.1,
+        push_to_hub=False,
+    )
+    record_cfg = RecordConfig(
+        robot=robot_cfg,
+        dataset=record_dataset_cfg,
+        teleop=teleop_cfg,
+        play_sounds=False,
+    )
+    replay_dataset_cfg = DatasetReplayConfig(
+        repo_id=DUMMY_REPO_ID,
+        episode=0,
+        root=tmp_path / "record_and_replay",
+    )
+    replay_cfg = ReplayConfig(
+        robot=robot_cfg,
+        dataset=replay_dataset_cfg,
+        play_sounds=False,
+    )
+
+    record(record_cfg)
+    replay(replay_cfg)