File size: 4,298 Bytes
0d80452 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 | #!/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
import pytest
pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
pytest.importorskip("deepdiff", reason="deepdiff is required (install lerobot[hardware])")
from lerobot.configs.dataset import DatasetRecordConfig
from lerobot.scripts.lerobot_calibrate import CalibrateConfig, calibrate
from lerobot.scripts.lerobot_record import RecordConfig, record
from lerobot.scripts.lerobot_replay import DatasetReplayConfig, ReplayConfig, replay
from lerobot.scripts.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.dataset_metadata.get_safe_version") as mock_get_safe_version,
patch("lerobot.datasets.dataset_metadata.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.dataset_metadata.get_safe_version") as mock_get_safe_version,
patch("lerobot.datasets.dataset_metadata.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)
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