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[skip-ci] style(clean): cleaning up audio benchmark

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This commit is contained in:
CarolinePascal
2025-06-04 16:26:51 +02:00
parent 95de732e55
commit a73ac2bdbb
1 changed files with 11 additions and 8 deletions
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benchmarks/audio/run_microphone_benchmark.py
+11 -8
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@@ -15,7 +15,6 @@
# limitations under the License. # limitations under the License.
import argparse import argparse
import time
from pathlib import Path from pathlib import Path
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
@@ -25,11 +24,13 @@ from soundfile import read
from lerobot.microphones.configs import MicrophoneConfig from lerobot.microphones.configs import MicrophoneConfig
from lerobot.microphones.portaudio import PortAudioMicrophone, PortAudioMicrophoneConfig from lerobot.microphones.portaudio import PortAudioMicrophone, PortAudioMicrophoneConfig
from lerobot.microphones.utils import ( from lerobot.microphones.utils import (
async_microphones_read,
async_microphones_start_recording, async_microphones_start_recording,
async_microphones_stop_recording, async_microphones_stop_recording,
make_microphones_from_configs, make_microphones_from_configs,
) )
from lerobot.utils.robot_utils import (
busy_wait,
)
def main( def main(
@@ -51,6 +52,8 @@ def main(
all_audio_chunks = [] all_audio_chunks = []
for i in range(repetitions): for i in range(repetitions):
print(f"Repetition {i + 1}/{repetitions}...")
# Create audio chunks # Create audio chunks
audio_chunks = {} audio_chunks = {}
for microphone_key in microphones: for microphone_key in microphones:
@@ -62,17 +65,17 @@ def main(
output_files=[ output_files=[
recording_dir / f"{microphone_key}_recording_{i}.wav" for microphone_key in microphones recording_dir / f"{microphone_key}_recording_{i}.wav" for microphone_key in microphones
], ],
multiprocessing=True, multiprocessing=multiprocessing,
) )
# Record audio chunks # Record audio chunks
for j in range(audio_chunks_number): for j in range(audio_chunks_number):
time.sleep(audio_chunks_duration) busy_wait(audio_chunks_duration)
audio_readings = async_microphones_read(microphones) for microphone_key, microphone in microphones.items():
for microphone_index, reading in audio_readings.items(): audio_chunk = microphone.read()
print(f"{microphone_index} - repetition {i} - chunk {j} - samples {reading.shape[0]}") print(f"{microphone_key} - repetition {i} - chunk {j} - samples {audio_chunk.shape[0]}")
audio_chunks[microphone_index].append(reading) audio_chunks[microphone_key].append(audio_chunk)
# Stop recording # Stop recording
async_microphones_stop_recording(microphones) async_microphones_stop_recording(microphones)