Add visualize_dataset_html.py

tests/test_visualize_dataset_html.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python
+
+# Copyright 2024 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
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from pathlib import Path
+
+import pytest
+
+from lerobot.common.datasets.factory import make_dataset
+from lerobot.common.logger import Logger
+from lerobot.common.policies.factory import make_policy
+from lerobot.common.utils.utils import init_hydra_config
+from lerobot.scripts.visualize_dataset_html import visualize_dataset_html
+from tests.utils import DEFAULT_CONFIG_PATH
+
+
+@pytest.mark.parametrize(
+    "repo_id",
+    ["lerobot/pusht"],
+)
+def test_visualize_dataset_html(tmpdir, repo_id):
+    tmpdir = Path(tmpdir)
+    visualize_dataset_html(
+        repo_id,
+        episodes=[0],
+        output_dir=tmpdir,
+        serve=False,
+    )
+    assert (tmpdir / "static" / "episode_0.csv").exists()
+
+
+@pytest.mark.parametrize(
+    "repo_id, policy_method",
+    [
+        ("lerobot/pusht", "select_action"),
+        ("lerobot/pusht", "forward"),
+    ],
+)
+def test_visualize_dataset_policy_ckpt_path(tmpdir, repo_id, policy_method):
+    tmpdir = Path(tmpdir)
+
+    # Create a policy
+    cfg = init_hydra_config(DEFAULT_CONFIG_PATH, overrides=["device=cpu"])
+    dataset = make_dataset(cfg)
+    policy = make_policy(cfg, dataset_stats=dataset.stats)
+
+    # Save a checkpoint
+    logger = Logger(cfg, tmpdir)
+    logger.save_model(tmpdir, policy)
+
+    visualize_dataset_html(
+        repo_id,
+        episodes=[0],
+        output_dir=tmpdir,
+        serve=False,
+        pretrained_policy_name_or_path=tmpdir,
+        policy_method=policy_method,
+    )
+    assert (tmpdir / "static" / "episode_0.csv").exists()
+    assert (tmpdir / "episode_0.safetensors").exists()