mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-17 15:01:54 +00:00
Pepijn
101 lines
3.2 KiB
Python
101 lines
3.2 KiB
Python
# Copyright 2026 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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import threading
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import time
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from lerobot.runtime import LanguageConditionedRuntime, Tick
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class FakeAdapter:
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def __init__(self):
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self.updated = False
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self.interjections = []
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def select_action(self, observation, state):
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assert observation == {"observation.state": 1}
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assert state.task == "clean"
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return ["a0", "a1"]
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def update_language_state(self, observation, state):
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self.updated = True
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state.set_context("subtask", "pick cup", label="subtask")
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def handle_interjection(self, user_text, observation, state):
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self.interjections.append(user_text)
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state.set_context("plan", "new plan", label="plan")
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def test_runtime_tick_updates_language_enqueues_and_dispatches_action():
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adapter = FakeAdapter()
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executed = []
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runtime = LanguageConditionedRuntime(
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policy_adapter=adapter,
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observation_provider=lambda: {"observation.state": 1},
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action_executor=executed.append,
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)
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runtime.set_task("clean")
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logs = runtime.step_once()
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assert adapter.updated
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assert runtime.state.language_context["subtask"] == "pick cup"
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assert executed == ["a0"]
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assert list(runtime.state.action_queue) == ["a1"]
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assert " subtask: pick cup" in logs
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def test_runtime_handles_user_interjection():
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adapter = FakeAdapter()
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runtime = LanguageConditionedRuntime(
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policy_adapter=adapter,
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observation_provider=lambda: {"observation.state": 1},
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)
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runtime.set_task("clean")
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runtime.state.extra["recent_interjection"] = "please say ok"
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runtime.state.emit("user_interjection")
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runtime.step_once()
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assert "please say ok" in adapter.interjections
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assert runtime.state.language_context["plan"] == "new plan"
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def test_prompt_change_discards_in_flight_action_chunk():
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started = threading.Event()
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release = threading.Event()
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class BlockingAdapter(FakeAdapter):
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def select_action(self, observation, state):
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started.set()
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assert release.wait(timeout=2)
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return ["stale"]
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runtime = LanguageConditionedRuntime(
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policy_adapter=BlockingAdapter(),
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observation_provider=lambda: {"observation.state": 1},
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)
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runtime.set_task("old task")
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runtime.state.tick = Tick(index=1, monotonic_seconds=time.monotonic())
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inference = threading.Thread(target=runtime.maybe_enqueue_action_chunk, kwargs={"force": True})
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inference.start()
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assert started.wait(timeout=2)
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runtime.set_task("new task")
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release.set()
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inference.join(timeout=2)
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assert not inference.is_alive()
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assert list(runtime.state.action_queue) == []
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