mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 09:09:48 +00:00
Martino Russi
88 lines
2.4 KiB
Python
88 lines
2.4 KiB
Python
#!/usr/bin/env python3
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"""
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Test script for G1 robot LED control using the new audio_control function.
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Usage:
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python test_led_control.py
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"""
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import time
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import logging
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from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
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from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
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# Set up logging
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logging.basicConfig(
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level=logging.INFO,
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format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
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)
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def main():
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print("="*60)
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print("G1 Robot LED Control Test")
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print("="*60)
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# Create robot config
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config = UnitreeG1Config(
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cameras={}, # No cameras needed for LED test
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motion_mode=False,
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simulation_mode=False,
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)
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# Initialize robot
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print("\n[1/4] Initializing robot...")
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robot = UnitreeG1(config)
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try:
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# Test LED: Red
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print("\n[2/4] Setting LED to RED (255, 0, 0)...")
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robot.audio_control((255, 0, 0))
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time.sleep(2)
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# Test LED: Green
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print("\n[3/4] Setting LED to GREEN (0, 255, 0)...")
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robot.audio_control((0, 255, 0))
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time.sleep(2)
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# Test LED: Blue
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print("\n[4/4] Setting LED to BLUE (0, 0, 255)...")
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robot.audio_control((0, 0, 255))
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time.sleep(2)
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# Test TTS
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print("\n[Bonus 1] Testing text-to-speech...")
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robot.audio_control("LED test complete!", volume=80)
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time.sleep(3)
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# Test WAV playback
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print("\n[Bonus 2] Testing WAV file playback...")
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wav_file = "out.wav"
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import os
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if os.path.exists(wav_file):
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robot.audio_control(wav_file, volume=80)
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print(f"Playing {wav_file}... (waiting for playback to complete)")
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# Wait a bit for audio to play (adjust based on your file length)
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time.sleep(5)
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else:
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print(f"⚠ Warning: {wav_file} not found, skipping WAV playback test")
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print(f" To test WAV playback, place a 16kHz mono 16-bit WAV file named 'out.wav' in this directory")
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print("\n" + "="*60)
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print("✓ LED control test completed successfully!")
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print("="*60)
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except Exception as e:
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print(f"\n✗ Error during test: {e}")
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import traceback
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traceback.print_exc()
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finally:
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print("\nDisconnecting robot...")
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robot.disconnect()
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print("Done!")
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if __name__ == "__main__":
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main()
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