mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-26 11:16:00 +00:00
Pepijn
59 lines
2.0 KiB
Python
59 lines
2.0 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
|
|
|
|
from types import SimpleNamespace
|
|
|
|
import pytest
|
|
|
|
pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
|
|
|
|
from lerobot.configs.default import DatasetConfig
|
|
from lerobot.datasets import factory
|
|
|
|
|
|
def test_factory_wires_production_streaming_settings(monkeypatch):
|
|
captured = {}
|
|
|
|
class DummyStreamingDataset:
|
|
def __init__(self, *args, **kwargs):
|
|
captured["args"] = args
|
|
captured["kwargs"] = kwargs
|
|
self.meta = SimpleNamespace(camera_keys=[], depth_keys=[], stats={})
|
|
|
|
monkeypatch.setattr(factory, "LeRobotDatasetMetadata", lambda *args, **kwargs: object())
|
|
monkeypatch.setattr(factory, "resolve_delta_timestamps", lambda *args, **kwargs: {"action": [0.0]})
|
|
monkeypatch.setattr(factory, "StreamingLeRobotDataset", DummyStreamingDataset)
|
|
dataset_config = DatasetConfig(
|
|
repo_id="owner/dataset",
|
|
streaming=True,
|
|
streaming_data_root="memory://payload",
|
|
streaming_episode_pool_size=7,
|
|
streaming_prefetch_episodes=3,
|
|
streaming_byte_budget_gb=2.5,
|
|
)
|
|
cfg = SimpleNamespace(
|
|
dataset=dataset_config,
|
|
trainable_config=object(),
|
|
num_workers=0,
|
|
tolerance_s=1e-4,
|
|
)
|
|
|
|
dataset = factory.make_dataset(cfg)
|
|
|
|
assert isinstance(dataset, DummyStreamingDataset)
|
|
assert captured["args"] == ("owner/dataset",)
|
|
assert captured["kwargs"]["data_root"] == "memory://payload"
|
|
assert captured["kwargs"]["episode_pool_size"] == 7
|
|
assert captured["kwargs"]["prefetch_episodes"] == 3
|
|
assert captured["kwargs"]["byte_budget_gb"] == 2.5
|
|
assert captured["kwargs"]["max_num_shards"] == 1
|
|
assert captured["kwargs"]["return_uint8"] is True
|
|
assert captured["kwargs"]["repeat"] is True
|