45 lines
1.6 KiB
Python
45 lines
1.6 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from lerobot.common.constants import HF_LEROBOT_HOME
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LEROBOT_TEST_DIR = HF_LEROBOT_HOME / "_testing"
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DUMMY_REPO_ID = "dummy/repo"
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DUMMY_ROBOT_TYPE = "dummy_robot"
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DUMMY_MOTOR_FEATURES = {
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"action": {
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"dtype": "float32",
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"shape": (6,),
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"names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
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},
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"state": {
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"dtype": "float32",
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"shape": (6,),
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"names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
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},
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}
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DUMMY_CAMERA_FEATURES = {
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"laptop": {"shape": (480, 640, 3), "names": ["height", "width", "channels"], "info": None},
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"phone": {"shape": (480, 640, 3), "names": ["height", "width", "channels"], "info": None},
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}
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DEFAULT_FPS = 30
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DUMMY_VIDEO_INFO = {
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"video.fps": DEFAULT_FPS,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": False,
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"has_audio": False,
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}
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DUMMY_CHW = (3, 96, 128)
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DUMMY_HWC = (96, 128, 3)
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