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Pepijn
e80c9e6270
Replace docker-compose.benchmark.yml with per-image docker build/run instructions. Each benchmark is built and tested independently via --build-arg BENCHMARK=<name> on Dockerfile.benchmark. Co-Authored-By: Claude <noreply@anthropic.com>
116 lines
4.2 KiB
Bash
Executable File
116 lines
4.2 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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# Build and run for a specific benchmark:
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# docker build --build-arg BENCHMARK=libero -f docker/Dockerfile.benchmark -t lerobot-benchmark-libero .
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# docker run --gpus all --rm -e BENCHMARK=libero lerobot-benchmark-libero bash docker/smoke_test_benchmark.sh
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#
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# Test all benchmarks individually:
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# for b in libero libero_plus robomme robocasa; do
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# docker build --build-arg BENCHMARK=$b -f docker/Dockerfile.benchmark -t lerobot-benchmark-$b .
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# docker run --gpus all --rm -e BENCHMARK=$b lerobot-benchmark-$b 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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