lerobot/tests/fixtures/constants.py

from lerobot.common.datasets.lerobot_dataset import LEROBOT_HOME

LEROBOT_TEST_DIR = LEROBOT_HOME / "_testing"
DUMMY_REPO_ID = "dummy/repo"
DUMMY_ROBOT_TYPE = "dummy_robot"
DUMMY_MOTOR_FEATURES = {
    "action": {
        "dtype": "float32",
        "shape": (6,),
        "names": [
            "shoulder_pan",
            "shoulder_lift",
            "elbow_flex",
            "wrist_flex",
            "wrist_roll",
            "gripper",
        ],
    },
    "state": {
        "dtype": "float32",
        "shape": (6,),
        "names": [
            "shoulder_pan",
            "shoulder_lift",
            "elbow_flex",
            "wrist_flex",
            "wrist_roll",
            "gripper",
        ],
    },
}
DUMMY_CAMERA_FEATURES = {
    "laptop": {
        "shape": (480, 640, 3),
        "names": ["height", "width", "channels"],
        "info": None,
    },
    "phone": {
        "shape": (480, 640, 3),
        "names": ["height", "width", "channels"],
        "info": None,
    },
}
DEFAULT_FPS = 30
DUMMY_VIDEO_INFO = {
    "video.fps": DEFAULT_FPS,
    "video.codec": "av1",
    "video.pix_fmt": "yuv420p",
    "video.is_depth_map": False,
    "has_audio": False,
}