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https://github.com/huggingface/lerobot.git
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Pepijn
109 lines
4.3 KiB
Python
109 lines
4.3 KiB
Python
#!/usr/bin/env python
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# Copyright 2026 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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"""
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Integration tests for loading robot/teleop pipelines from the Hugging Face Hub.
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These tests require network access and are marked with ``@pytest.mark.integration``.
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Run with::
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pytest tests/test_pipeline_hub.py -m integration -v
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The tests verify the full end-to-end flow of:
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1. Loading a pipeline from the Hub via ``RobotProcessorPipeline.from_pretrained(...)``
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2. Attaching it to a robot or teleoperator via ``set_output_pipeline`` / ``set_input_pipeline``
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3. Verifying that ``observation_features`` / ``action_features`` differ from the raw versions
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Note: The Hub repos referenced below are placeholders. Update them once actual pipelines
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are published to the Hub.
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"""
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import pytest
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# ─── Shared mock infrastructure (mirrors test_robot_pipeline.py) ──────────────
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try:
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from tests.test_robot_pipeline import MockRobot, MockTeleop # type: ignore[import]
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except ImportError:
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# Fallback if tests are run from a different working directory
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import sys
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from pathlib import Path
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sys.path.insert(0, str(Path(__file__).parent))
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from test_robot_pipeline import MockRobot, MockTeleop
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# ─── Integration tests ────────────────────────────────────────────────────────
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@pytest.mark.integration
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def test_load_robot_pipeline_from_hub(tmp_path):
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"""
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Full end-to-end: load a FK observation pipeline for SO-101 from the Hub,
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attach it to a robot, and verify that observation_features are transformed.
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Prerequisites:
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- A pipeline must be published at ``lerobot/so101-fk-observation-pipeline`` on the Hub.
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- A URDF file must be available locally (update ``local_urdf_path`` to point to it).
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"""
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pytest.importorskip("huggingface_hub")
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from lerobot.processor.pipeline import RobotProcessorPipeline
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local_urdf_path = tmp_path / "so101.urdf"
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# NOTE: In a real test environment, provide an actual URDF or mock the kinematics.
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# For now, this test validates the Hub loading mechanism only if a URDF is provided.
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if not local_urdf_path.exists():
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pytest.skip("URDF not available; skipping Hub loading test")
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pipeline = RobotProcessorPipeline.from_pretrained(
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"lerobot/so101-fk-observation-pipeline",
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overrides={"step_0": {"urdf_path": str(local_urdf_path)}},
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)
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robot = MockRobot()
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robot.set_output_pipeline(pipeline)
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# Pipeline-transformed features should differ from raw features (EE vs joints)
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assert robot.observation_features != robot.raw_observation_features
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@pytest.mark.integration
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def test_load_teleop_pipeline_from_hub(tmp_path):
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"""
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Full end-to-end: load a FK action pipeline for SO-101 leader from the Hub,
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attach it to a teleoperator, and verify that action_features are transformed.
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Prerequisites:
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- A pipeline must be published at ``lerobot/so101-leader-fk-action-pipeline`` on the Hub.
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- A URDF file must be available locally (update ``local_urdf_path`` to point to it).
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"""
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pytest.importorskip("huggingface_hub")
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from lerobot.processor.pipeline import RobotProcessorPipeline
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local_urdf_path = tmp_path / "so101.urdf"
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if not local_urdf_path.exists():
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pytest.skip("URDF not available; skipping Hub loading test")
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pipeline = RobotProcessorPipeline.from_pretrained(
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"lerobot/so101-leader-fk-action-pipeline",
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overrides={"step_0": {"urdf_path": str(local_urdf_path)}},
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)
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teleop = MockTeleop()
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teleop.set_output_pipeline(pipeline)
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# Pipeline-transformed features should differ from raw features (EE vs joints)
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assert teleop.action_features != teleop.raw_action_features
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