f55c6e89f0
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Co-authored-by: Remi Cadene <re.cadene@gmail.com> Co-authored-by: Tavish <tavish9.chen@gmail.com> Co-authored-by: fracapuano <francesco.capuano@huggingface.co> Co-authored-by: CarolinePascal <caroline8.pascal@gmail.com>
124 lines
3.9 KiB
Python
124 lines
3.9 KiB
Python
#!/usr/bin/env python
|
|
|
|
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
from unittest.mock import patch
|
|
|
|
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()
|
|
cfg = TeleoperateConfig(
|
|
robot=robot_cfg,
|
|
teleop=teleop_cfg,
|
|
teleop_time_s=0.1,
|
|
)
|
|
teleoperate(cfg)
|
|
|
|
|
|
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
|
|
# Mock the revision to prevent Hub calls during resume
|
|
with (
|
|
patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version,
|
|
patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download,
|
|
):
|
|
mock_get_safe_version.return_value = "v3.0"
|
|
mock_snapshot_download.return_value = str(tmp_path / "record")
|
|
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)
|
|
|
|
# Mock the revision to prevent Hub calls during replay
|
|
with (
|
|
patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version,
|
|
patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download,
|
|
):
|
|
mock_get_safe_version.return_value = "v3.0"
|
|
mock_snapshot_download.return_value = str(tmp_path / "record_and_replay")
|
|
replay(replay_cfg)
|