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#!/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 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
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)
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