mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-18 10:10:08 +00:00
Pepijn
124 lines
4.1 KiB
Python
124 lines
4.1 KiB
Python
#!/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.
|
|
|
|
from __future__ import annotations
|
|
|
|
import sys
|
|
from types import ModuleType
|
|
from unittest.mock import MagicMock
|
|
|
|
import numpy as np
|
|
|
|
|
|
def _install_robomme_stub():
|
|
stub = ModuleType("robomme")
|
|
wrapper_stub = ModuleType("robomme.env_record_wrapper")
|
|
|
|
class FakeBuilder:
|
|
def __init__(self, **kwargs):
|
|
pass
|
|
|
|
def make_env_for_episode(self, episode_idx: int, max_steps: int):
|
|
env = MagicMock()
|
|
obs = {
|
|
"front_rgb_list": [np.zeros((256, 256, 3), dtype=np.uint8)],
|
|
"wrist_rgb_list": [np.zeros((256, 256, 3), dtype=np.uint8)],
|
|
"joint_state_list": [np.zeros(7, dtype=np.float32)],
|
|
"gripper_state_list": [np.zeros(2, dtype=np.float32)],
|
|
}
|
|
env.reset.return_value = (obs, {"status": "ongoing", "task_goal": "pick the cube"})
|
|
env.step.return_value = (obs, 0.0, False, False, {"status": "ongoing", "task_goal": ""})
|
|
return env
|
|
|
|
wrapper_stub.BenchmarkEnvBuilder = FakeBuilder
|
|
stub.env_record_wrapper = wrapper_stub
|
|
sys.modules["robomme"] = stub
|
|
sys.modules["robomme.env_record_wrapper"] = wrapper_stub
|
|
|
|
|
|
def _uninstall_robomme_stub():
|
|
sys.modules.pop("robomme", None)
|
|
sys.modules.pop("robomme.env_record_wrapper", None)
|
|
|
|
|
|
def test_robomme_env_config_defaults():
|
|
from lerobot.envs.configs import RoboMMEEnv
|
|
|
|
cfg = RoboMMEEnv()
|
|
assert cfg.task == "PickXtimes"
|
|
assert cfg.fps == 10
|
|
assert cfg.episode_length == 300
|
|
assert cfg.action_space == "joint_angle"
|
|
assert cfg.dataset_split == "test"
|
|
assert cfg.task_ids is None
|
|
|
|
|
|
def test_robomme_features_map():
|
|
from lerobot.envs.configs import RoboMMEEnv
|
|
from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
|
|
|
|
cfg = RoboMMEEnv()
|
|
assert cfg.features_map[ACTION] == ACTION
|
|
assert cfg.features_map["image"] == f"{OBS_IMAGES}.image"
|
|
assert cfg.features_map["wrist_image"] == f"{OBS_IMAGES}.wrist_image"
|
|
assert cfg.features_map[OBS_STATE] == OBS_STATE
|
|
|
|
|
|
def test_convert_obs_list_format():
|
|
_install_robomme_stub()
|
|
try:
|
|
from lerobot.envs.robomme import RoboMMEGymEnv
|
|
|
|
env = RoboMMEGymEnv.__new__(RoboMMEGymEnv)
|
|
|
|
front = np.full((256, 256, 3), 42, dtype=np.uint8)
|
|
wrist = np.full((256, 256, 3), 7, dtype=np.uint8)
|
|
joints = np.arange(7, dtype=np.float32)
|
|
gripper = np.array([0.5, 0.5], dtype=np.float32)
|
|
|
|
obs_raw = {
|
|
"front_rgb_list": [np.zeros_like(front), front],
|
|
"wrist_rgb_list": [np.zeros_like(wrist), wrist],
|
|
"joint_state_list": [np.zeros(7, dtype=np.float32), joints],
|
|
"gripper_state_list": [np.zeros(2, dtype=np.float32), gripper],
|
|
}
|
|
|
|
result = env._convert_obs(obs_raw)
|
|
np.testing.assert_array_equal(result["image"], front)
|
|
np.testing.assert_array_equal(result["wrist_image"], wrist)
|
|
assert result["state"].shape == (8,)
|
|
np.testing.assert_array_almost_equal(result["state"][:7], joints)
|
|
assert result["state"][7] == gripper[0]
|
|
finally:
|
|
_uninstall_robomme_stub()
|
|
|
|
|
|
def test_create_robomme_envs_multi_task():
|
|
_install_robomme_stub()
|
|
try:
|
|
from lerobot.envs.robomme import create_robomme_envs
|
|
|
|
env_cls = MagicMock(return_value=MagicMock())
|
|
result = create_robomme_envs(
|
|
task="PickXtimes,BinFill,StopCube",
|
|
n_envs=1,
|
|
env_cls=env_cls,
|
|
)
|
|
|
|
assert set(result.keys()) == {"PickXtimes", "BinFill", "StopCube"}
|
|
finally:
|
|
_uninstall_robomme_stub()
|