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ZibinDong
90 lines
3.3 KiB
Python
90 lines
3.3 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 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 pytest
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import torch
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from lerobot.policies.factory import get_policy_class, make_policy_config, make_pre_post_processors
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def test_fastwam_is_registered_in_policy_factory():
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from lerobot.policies.fastwam.configuration_fastwam import FastWAMConfig
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from lerobot.policies.fastwam.modeling_fastwam import FastWAMPolicy
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cfg = make_policy_config("fastwam", action_dim=3, proprio_dim=2, action_horizon=4, n_action_steps=2)
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assert isinstance(cfg, FastWAMConfig)
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assert cfg.type == "fastwam"
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assert get_policy_class("fastwam") is FastWAMPolicy
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def test_fastwam_pre_post_processors_are_available():
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cfg = make_policy_config("fastwam", action_dim=3, proprio_dim=2, action_horizon=4, n_action_steps=2)
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preprocessor, postprocessor = make_pre_post_processors(cfg)
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assert preprocessor.name == "policy_preprocessor"
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assert postprocessor.name == "policy_postprocessor"
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def test_fastwam_postprocessor_only_adds_action_inversion_when_configured():
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from lerobot.policies.fastwam.processor_fastwam import (
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FastWAMActionInversionProcessorStep,
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FastWAMActionToggleProcessorStep,
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)
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default_cfg = make_policy_config(
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"fastwam", action_dim=3, proprio_dim=2, action_horizon=4, n_action_steps=2
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)
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_, default_postprocessor = make_pre_post_processors(default_cfg)
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assert any(isinstance(step, FastWAMActionToggleProcessorStep) for step in default_postprocessor.steps)
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assert not any(
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isinstance(step, FastWAMActionInversionProcessorStep) for step in default_postprocessor.steps
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)
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inverted_cfg = make_policy_config(
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"fastwam",
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action_dim=3,
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proprio_dim=2,
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action_horizon=4,
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n_action_steps=2,
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toggle_action_dimensions=[],
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invert_dimensions=[-1],
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)
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_, inverted_postprocessor = make_pre_post_processors(inverted_cfg)
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assert any(isinstance(step, FastWAMActionInversionProcessorStep) for step in inverted_postprocessor.steps)
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def test_fastwam_action_inversion_processor_flips_configured_dimensions():
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from lerobot.policies.fastwam.processor_fastwam import FastWAMActionInversionProcessorStep
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processor = FastWAMActionInversionProcessorStep(invert_dimensions=[0, -1])
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action = torch.tensor([[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]])
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processed = processor.action(action)
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assert torch.equal(processed, torch.tensor([[-1.0, 2.0, -3.0], [-4.0, 5.0, -6.0]]))
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assert torch.equal(action, torch.tensor([[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]]))
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def test_fastwam_rejects_non_wan22_hub_model_ids():
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from lerobot.policies.fastwam.configuration_fastwam import FastWAMConfig
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with pytest.raises(ValueError, match="model_id"):
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FastWAMConfig(model_id="somebody/other-model")
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