pipeline architecture changes

2026-05-26 14:09:47 +00:00 · 2026-03-02 13:09:35 +01:00
parent 095856b06a
commit a2246a650b
46 changed files with 1624 additions and 484 deletions
@@ -0,0 +1,108 @@
+#!/usr/bin/env python
+
+# Copyright 2026 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.
+
+"""
+Integration tests for loading robot/teleop pipelines from the Hugging Face Hub.
+
+These tests require network access and are marked with ``@pytest.mark.integration``.
+Run with::
+
+    pytest tests/test_pipeline_hub.py -m integration -v
+
+The tests verify the full end-to-end flow of:
+1. Loading a pipeline from the Hub via ``RobotProcessorPipeline.from_pretrained(...)``
+2. Attaching it to a robot or teleoperator via ``set_output_pipeline`` / ``set_input_pipeline``
+3. Verifying that ``observation_features`` / ``action_features`` differ from the raw versions
+
+Note: The Hub repos referenced below are placeholders. Update them once actual pipelines
+are published to the Hub.
+"""
+
+import pytest
+
+
+# ─── Shared mock infrastructure (mirrors test_robot_pipeline.py) ──────────────
+
+try:
+    from tests.test_robot_pipeline import MockRobot, MockTeleop  # type: ignore[import]
+except ImportError:
+    # Fallback if tests are run from a different working directory
+    import sys
+    from pathlib import Path
+
+    sys.path.insert(0, str(Path(__file__).parent))
+    from test_robot_pipeline import MockRobot, MockTeleop
+
+
+# ─── Integration tests ────────────────────────────────────────────────────────
+
+
+@pytest.mark.integration
+def test_load_robot_pipeline_from_hub(tmp_path):
+    """
+    Full end-to-end: load a FK observation pipeline for SO-101 from the Hub,
+    attach it to a robot, and verify that observation_features are transformed.
+
+    Prerequisites:
+    - A pipeline must be published at ``lerobot/so101-fk-observation-pipeline`` on the Hub.
+    - A URDF file must be available locally (update ``local_urdf_path`` to point to it).
+    """
+    pytest.importorskip("huggingface_hub")
+    from lerobot.processor.pipeline import RobotProcessorPipeline
+
+    local_urdf_path = tmp_path / "so101.urdf"
+    # NOTE: In a real test environment, provide an actual URDF or mock the kinematics.
+    # For now, this test validates the Hub loading mechanism only if a URDF is provided.
+    if not local_urdf_path.exists():
+        pytest.skip("URDF not available; skipping Hub loading test")
+
+    pipeline = RobotProcessorPipeline.from_pretrained(
+        "lerobot/so101-fk-observation-pipeline",
+        overrides={"step_0": {"urdf_path": str(local_urdf_path)}},
+    )
+    robot = MockRobot()
+    robot.set_output_pipeline(pipeline)
+
+    # Pipeline-transformed features should differ from raw features (EE vs joints)
+    assert robot.observation_features != robot.raw_observation_features
+
+
+@pytest.mark.integration
+def test_load_teleop_pipeline_from_hub(tmp_path):
+    """
+    Full end-to-end: load a FK action pipeline for SO-101 leader from the Hub,
+    attach it to a teleoperator, and verify that action_features are transformed.
+
+    Prerequisites:
+    - A pipeline must be published at ``lerobot/so101-leader-fk-action-pipeline`` on the Hub.
+    - A URDF file must be available locally (update ``local_urdf_path`` to point to it).
+    """
+    pytest.importorskip("huggingface_hub")
+    from lerobot.processor.pipeline import RobotProcessorPipeline
+
+    local_urdf_path = tmp_path / "so101.urdf"
+    if not local_urdf_path.exists():
+        pytest.skip("URDF not available; skipping Hub loading test")
+
+    pipeline = RobotProcessorPipeline.from_pretrained(
+        "lerobot/so101-leader-fk-action-pipeline",
+        overrides={"step_0": {"urdf_path": str(local_urdf_path)}},
+    )
+    teleop = MockTeleop()
+    teleop.set_output_pipeline(pipeline)
+
+    # Pipeline-transformed features should differ from raw features (EE vs joints)
+    assert teleop.action_features != teleop.raw_action_features