mirror of
https://github.com/huggingface/lerobot.git
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Pepijn
39cf11d5dc
Add Dockerfile.benchmark (parameterized via ARG BENCHMARK), a
docker-compose.benchmark.yml with services for libero, libero_plus,
robomme, and robocasa, and a smoke_test_benchmark.sh that verifies
imports and CLI entry-points in each container.
Also add the missing `robocasa` optional dep group to pyproject.toml
(the docs already referenced `pip install ".[robocasa]"` but the group
was not defined).
Build a specific benchmark image:
docker build --build-arg BENCHMARK=robomme \
-f docker/Dockerfile.benchmark -t lerobot-benchmark-robomme .
Build all via compose:
docker compose -f docker/docker-compose.benchmark.yml build
Smoke-test inside a container:
docker compose -f docker/docker-compose.benchmark.yml run --rm robomme \
bash docker/smoke_test_benchmark.sh
Co-Authored-By: Claude <noreply@anthropic.com>
115 lines
4.0 KiB
Bash
Executable File
115 lines
4.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Smoke-test a benchmark container: verifies imports and CLI entry-points.
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#
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# Run inside the container (BENCHMARK env var must be set):
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# bash docker/smoke_test_benchmark.sh
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#
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# Or run all benchmarks via docker compose:
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# for svc in libero libero_plus robomme robocasa; do
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# docker compose -f docker/docker-compose.benchmark.yml run --rm "$svc" \
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# bash docker/smoke_test_benchmark.sh
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# done
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set -euo pipefail
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BENCHMARK="${BENCHMARK:-libero}"
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PASS=0
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FAIL=0
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ok() { echo "[PASS] $*"; PASS=$((PASS + 1)); }
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fail() { echo "[FAIL] $*"; FAIL=$((FAIL + 1)); }
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python_import() {
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local module="$1"
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if python -c "import ${module}" 2>/dev/null; then
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ok "import ${module}"
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else
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fail "import ${module}"
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fi
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}
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cli_help() {
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local cmd="$1"
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if "${cmd}" --help > /dev/null 2>&1; then
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ok "${cmd} --help"
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else
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fail "${cmd} --help"
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fi
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}
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echo "=== Smoke test: benchmark=${BENCHMARK} ==="
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# ── lerobot core ──────────────────────────────────────────────────────────────
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python_import "lerobot"
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python_import "lerobot.envs"
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python_import "lerobot.configs.eval"
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cli_help "lerobot-eval"
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# ── Benchmark-specific env import ─────────────────────────────────────────────
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case "${BENCHMARK}" in
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libero)
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python_import "lerobot.envs.libero"
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python -c "
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from lerobot.envs.configs import LiberoEnv
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cfg = LiberoEnv(task='libero_spatial/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet')
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print(' LiberoEnv config OK:', cfg.type)
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" && ok "LiberoEnv config instantiation" || fail "LiberoEnv config instantiation"
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;;
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libero_plus)
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python_import "lerobot.envs.libero"
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python -c "
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from lerobot.envs.configs import LiberoPlusEnv
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cfg = LiberoPlusEnv()
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print(' LiberoPlusEnv config OK:', cfg.type)
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" && ok "LiberoPlusEnv config instantiation" || fail "LiberoPlusEnv config instantiation"
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# Verify the LIBERO-plus package itself is importable
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python_import "libero"
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python_import "robosuite"
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;;
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robomme)
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python_import "lerobot.envs.robomme"
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python -c "
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from lerobot.envs.robomme import ROBOMME_TASKS, RoboMMEGymEnv
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assert len(ROBOMME_TASKS) == 16, f'Expected 16 tasks, got {len(ROBOMME_TASKS)}'
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print(' ROBOMME_TASKS OK:', ROBOMME_TASKS[:3], '...')
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" && ok "RoboMME task list" || fail "RoboMME task list"
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python -c "
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from lerobot.envs.configs import RoboMMEEnv
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cfg = RoboMMEEnv(task='PickXtimes')
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print(' RoboMMEEnv config OK:', cfg.type)
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" && ok "RoboMMEEnv config instantiation" || fail "RoboMMEEnv config instantiation"
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python_import "robomme"
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;;
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robocasa)
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python_import "lerobot.envs.robocasa"
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python -c "
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from lerobot.envs.robocasa import ACTION_DIM, STATE_DIM
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assert ACTION_DIM == 12, f'Expected ACTION_DIM=12, got {ACTION_DIM}'
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assert STATE_DIM == 16, f'Expected STATE_DIM=16, got {STATE_DIM}'
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print(' ACTION_DIM:', ACTION_DIM, ' STATE_DIM:', STATE_DIM)
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" && ok "RoboCasa constants" || fail "RoboCasa constants"
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python -c "
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from lerobot.envs.configs import RoboCasaEnv
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cfg = RoboCasaEnv(task='PickPlaceCounterToCabinet')
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print(' RoboCasaEnv config OK:', cfg.type)
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" && ok "RoboCasaEnv config instantiation" || fail "RoboCasaEnv config instantiation"
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python_import "robocasa"
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python_import "robosuite"
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;;
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*)
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echo "Unknown BENCHMARK='${BENCHMARK}'. Valid values: libero, libero_plus, robomme, robocasa"
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exit 1
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;;
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esac
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# ── Summary ───────────────────────────────────────────────────────────────────
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echo ""
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echo "=== Results: ${PASS} passed, ${FAIL} failed ==="
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if [ "${FAIL}" -gt 0 ]; then
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exit 1
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fi
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