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Pepijn
72 lines
3.0 KiB
Python
72 lines
3.0 KiB
Python
from types import SimpleNamespace
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from lerobot.policies.pi052.inference.pi052_adapter import PI052PolicyAdapter
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from lerobot.runtime import RuntimeState
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from lerobot.runtime.adapter import split_plan_and_say
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def test_pi052_adapter_builds_recipe_prompts_from_runtime_state():
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adapter = PI052PolicyAdapter(policy=object())
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state = RuntimeState(
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task="clean the kitchen",
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language_context={"memory": "cup moved", "plan": "pick then place"},
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extra={"prior_subtask": "pick the cup"},
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)
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assert adapter.build_messages("subtask", state) == [{"role": "user", "content": "clean the kitchen"}]
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assert adapter.build_messages("memory", state) == [
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{"role": "user", "content": "clean the kitchen"},
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{"role": "assistant", "content": "Previous memory: cup moved"},
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{"role": "user", "content": "Completed subtask: pick the cup"},
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]
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assert adapter.build_messages("interjection", state, user_text="wait") == [
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{"role": "user", "content": "clean the kitchen"},
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{"role": "assistant", "content": "Previous plan:\npick then place"},
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{"role": "user", "content": "wait"},
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]
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def test_pi052_adapter_strips_say_markers_from_plan_text():
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adapter = PI052PolicyAdapter(policy=object())
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text = "Move to the sink. <say>heading to the sink</say>"
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assert split_plan_and_say(text) == ("Move to the sink.", "heading to the sink")
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assert adapter.plan_from_text(text) == "Move to the sink."
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def test_rollout_language_cli_smoke_does_not_load_model(monkeypatch):
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"""lerobot-rollout dispatches language flags to the adapter-based runtime."""
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from lerobot.runtime import cli
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from lerobot.scripts import lerobot_rollout
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fake_policy = SimpleNamespace(config=SimpleNamespace(device="cpu", type="pi052"))
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monkeypatch.setattr(
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cli,
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"_load_policy_and_preprocessor",
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lambda policy_path, dataset_repo_id, **kwargs: (fake_policy, None, None, None),
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)
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monkeypatch.setattr(cli, "_run_repl", lambda runtime, **kwargs: 0)
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assert lerobot_rollout.main(["--policy.path=fake", "--no_robot", "--task=clean", "--max_ticks=0"]) == 0
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def test_rollout_language_dispatch_preserves_standard_molmoact2_path(monkeypatch):
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"""MolmoAct2 only opts into open prompting when a language flag is present."""
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from lerobot.scripts import lerobot_rollout
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standard = [
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"--policy.path=lerobot/MolmoAct2-SO100_101-LeRobot",
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"--robot.type=so101_follower",
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"--task=pick up the cube",
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]
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assert not lerobot_rollout._uses_language_runtime(standard)
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assert lerobot_rollout._uses_language_runtime([*standard, "--direct_subtask"])
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assert lerobot_rollout._uses_language_runtime(["--policy.path=lerobot/pi052_robocasa", "--sim"])
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standard_calls = []
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monkeypatch.setattr(lerobot_rollout, "register_third_party_plugins", lambda: None)
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monkeypatch.setattr(lerobot_rollout, "rollout", lambda: standard_calls.append(True))
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lerobot_rollout.main(standard)
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assert standard_calls == [True]
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