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Package folder structure (#1417)

Browse Source 
* Move files

* Replace imports & paths

* Update relative paths

* Update doc symlinks

* Update instructions paths

* Fix imports

* Update grpc files

* Update more instructions

* Downgrade grpc-tools

* Update manifest

* Update more paths

* Update config paths

* Update CI paths

* Update bandit exclusions

* Remove walkthrough section
This commit is contained in:
Simon Alibert
2025-07-01 16:34:46 +02:00
committed by GitHub
parent 483be9aac2
commit d4ee470b00
268 changed files with 862 additions and 890 deletions
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2
tests/artifacts/datasets/save_dataset_to_safetensors.py
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@@ -31,7 +31,7 @@ from pathlib import Path
from safetensors.torch import save_file
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.lerobot_dataset import LeRobotDataset
def save_dataset_to_safetensors(output_dir, repo_id="lerobot/pusht"):

6
tests/artifacts/image_transforms/save_image_transforms_to_safetensors.py
View File

@@ -18,14 +18,14 @@ from pathlib import Path
import torch
from safetensors.torch import save_file
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.transforms import (
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.transforms import (
ImageTransformConfig,
ImageTransforms,
ImageTransformsConfig,
make_transform_from_config,
)
from lerobot.common.utils.random_utils import seeded_context
from lerobot.utils.random_utils import seeded_context
ARTIFACT_DIR = Path("tests/artifacts/image_transforms")
DATASET_REPO_ID = "lerobot/aloha_static_cups_open"

8
tests/artifacts/policies/save_policy_to_safetensors.py
View File

@@ -19,12 +19,12 @@ from pathlib import Path
import torch
from safetensors.torch import save_file
from lerobot.common.datasets.factory import make_dataset
from lerobot.common.optim.factory import make_optimizer_and_scheduler
from lerobot.common.policies.factory import make_policy, make_policy_config
from lerobot.common.utils.random_utils import set_seed
from lerobot.configs.default import DatasetConfig
from lerobot.configs.train import TrainPipelineConfig
from lerobot.datasets.factory import make_dataset
from lerobot.optim.factory import make_optimizer_and_scheduler
from lerobot.policies.factory import make_policy, make_policy_config
from lerobot.utils.random_utils import set_seed
def get_policy_stats(ds_repo_id: str, policy_name: str, policy_kwargs: dict):

6
tests/cameras/test_opencv.py
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@@ -24,9 +24,9 @@ from pathlib import Path
import numpy as np
import pytest
from lerobot.common.cameras.configs import Cv2Rotation
from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.cameras.configs import Cv2Rotation
from lerobot.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
# NOTE(Steven): more tests + assertions?
TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"

6
tests/cameras/test_realsense.py
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@@ -25,12 +25,12 @@ from unittest.mock import patch
import numpy as np
import pytest
from lerobot.common.cameras.configs import Cv2Rotation
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.cameras.configs import Cv2Rotation
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
pytest.importorskip("pyrealsense2")
from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
from lerobot.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"
BAG_FILE_PATH = TEST_ARTIFACTS_DIR / "test_rs.bag"

4
tests/configs/test_plugin_loading.py
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@@ -5,15 +5,15 @@ from typing import Generator
import pytest
from lerobot.common.envs.configs import EnvConfig
from lerobot.configs.parser import PluginLoadError, load_plugin, parse_plugin_args, wrap
from lerobot.envs.configs import EnvConfig
def create_plugin_code(*, base_class: str = "EnvConfig", plugin_name: str = "test_env") -> str:
"""Creates a dummy plugin module that implements its own EnvConfig subclass."""
return f"""
from dataclasses import dataclass
from lerobot.common.envs.configs import {base_class}
from lerobot.envs.configs import {base_class}
@{base_class}.register_subclass("{plugin_name}")
@dataclass

8
tests/datasets/test_compute_stats.py
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@@ -18,7 +18,7 @@ from unittest.mock import patch
import numpy as np
import pytest
from lerobot.common.datasets.compute_stats import (
from lerobot.datasets.compute_stats import (
_assert_type_and_shape,
aggregate_feature_stats,
aggregate_stats,
@@ -61,7 +61,7 @@ def test_sample_indices():
assert len(indices) == estimate_num_samples(10)
@patch("lerobot.common.datasets.compute_stats.load_image_as_numpy", side_effect=mock_load_image_as_numpy)
@patch("lerobot.datasets.compute_stats.load_image_as_numpy", side_effect=mock_load_image_as_numpy)
def test_sample_images(mock_load):
image_paths = [f"image_{i}.jpg" for i in range(100)]
images = sample_images(image_paths)
@@ -144,9 +144,7 @@ def test_compute_episode_stats():
"observation.state": {"dtype": "numeric"},
}
with patch(
"lerobot.common.datasets.compute_stats.load_image_as_numpy", side_effect=mock_load_image_as_numpy
):
with patch("lerobot.datasets.compute_stats.load_image_as_numpy", side_effect=mock_load_image_as_numpy):
stats = compute_episode_stats(episode_data, features)
assert "observation.image" in stats and "observation.state" in stats

18
tests/datasets/test_datasets.py
View File

@@ -28,21 +28,21 @@ from PIL import Image
from safetensors.torch import load_file
import lerobot
from lerobot.common.datasets.factory import make_dataset
from lerobot.common.datasets.image_writer import image_array_to_pil_image
from lerobot.common.datasets.lerobot_dataset import (
from lerobot.configs.default import DatasetConfig
from lerobot.configs.train import TrainPipelineConfig
from lerobot.datasets.factory import make_dataset
from lerobot.datasets.image_writer import image_array_to_pil_image
from lerobot.datasets.lerobot_dataset import (
LeRobotDataset,
MultiLeRobotDataset,
)
from lerobot.common.datasets.utils import (
from lerobot.datasets.utils import (
create_branch,
flatten_dict,
unflatten_dict,
)
from lerobot.common.envs.factory import make_env_config
from lerobot.common.policies.factory import make_policy_config
from lerobot.configs.default import DatasetConfig
from lerobot.configs.train import TrainPipelineConfig
from lerobot.envs.factory import make_env_config
from lerobot.policies.factory import make_policy_config
from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID
from tests.utils import require_x86_64_kernel
@@ -558,7 +558,7 @@ def test_create_branch():
def test_dataset_feature_with_forward_slash_raises_error():
# make sure dir does not exist
from lerobot.common.constants import HF_LEROBOT_HOME
from lerobot.constants import HF_LEROBOT_HOME
dataset_dir = HF_LEROBOT_HOME / "lerobot/test/with/slash"
# make sure does not exist

2
tests/datasets/test_delta_timestamps.py
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@@ -19,7 +19,7 @@ import pyarrow.compute as pc
import pytest
import torch
from lerobot.common.datasets.utils import (
from lerobot.datasets.utils import (
check_delta_timestamps,
check_timestamps_sync,
get_delta_indices,

4
tests/datasets/test_image_transforms.py
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@@ -21,7 +21,7 @@ from safetensors.torch import load_file
from torchvision.transforms import v2
from torchvision.transforms.v2 import functional as F # noqa: N812
from lerobot.common.datasets.transforms import (
from lerobot.datasets.transforms import (
ImageTransformConfig,
ImageTransforms,
ImageTransformsConfig,
@@ -29,11 +29,11 @@ from lerobot.common.datasets.transforms import (
SharpnessJitter,
make_transform_from_config,
)
from lerobot.common.utils.random_utils import seeded_context
from lerobot.scripts.visualize_image_transforms import (
save_all_transforms,
save_each_transform,
)
from lerobot.utils.random_utils import seeded_context
from tests.artifacts.image_transforms.save_image_transforms_to_safetensors import ARTIFACT_DIR
from tests.utils import require_x86_64_kernel

2
tests/datasets/test_image_writer.py
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@@ -20,7 +20,7 @@ import numpy as np
import pytest
from PIL import Image
from lerobot.common.datasets.image_writer import (
from lerobot.datasets.image_writer import (
AsyncImageWriter,
image_array_to_pil_image,
safe_stop_image_writer,

2
tests/datasets/test_online_buffer.py
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@@ -20,7 +20,7 @@ import numpy as np
import pytest
import torch
from lerobot.common.datasets.online_buffer import OnlineBuffer, compute_sampler_weights
from lerobot.datasets.online_buffer import OnlineBuffer, compute_sampler_weights
# Some constants for OnlineBuffer tests.
data_key = "data"

6
tests/datasets/test_sampler.py
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@@ -15,9 +15,9 @@
# limitations under the License.
from datasets import Dataset
from lerobot.common.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
from lerobot.common.datasets.sampler import EpisodeAwareSampler
from lerobot.common.datasets.utils import (
from lerobot.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
from lerobot.datasets.sampler import EpisodeAwareSampler
from lerobot.datasets.utils import (
hf_transform_to_torch,
)

4
tests/datasets/test_utils.py
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@@ -18,8 +18,8 @@ import torch
from datasets import Dataset
from huggingface_hub import DatasetCard
from lerobot.common.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
from lerobot.common.datasets.utils import create_lerobot_dataset_card, hf_transform_to_torch
from lerobot.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
from lerobot.datasets.utils import create_lerobot_dataset_card, hf_transform_to_torch
def test_default_parameters():

4
tests/envs/test_envs.py
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@@ -21,8 +21,8 @@ import torch
from gymnasium.utils.env_checker import check_env
import lerobot
from lerobot.common.envs.factory import make_env, make_env_config
from lerobot.common.envs.utils import preprocess_observation
from lerobot.envs.factory import make_env, make_env_config
from lerobot.envs.utils import preprocess_observation
from tests.utils import require_env
OBS_TYPES = ["state", "pixels", "pixels_agent_pos"]

2
tests/fixtures/constants.py vendored
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@@ -11,7 +11,7 @@
# 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 lerobot.common.constants import HF_LEROBOT_HOME
from lerobot.constants import HF_LEROBOT_HOME
LEROBOT_TEST_DIR = HF_LEROBOT_HOME / "_testing"
DUMMY_REPO_ID = "dummy/repo"

18
tests/fixtures/dataset_factories.py vendored
View File

@@ -23,8 +23,8 @@ import PIL.Image
import pytest
import torch
from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset, LeRobotDatasetMetadata
from lerobot.common.datasets.utils import (
from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset, LeRobotDatasetMetadata
from lerobot.datasets.utils import (
DEFAULT_CHUNK_SIZE,
DEFAULT_FEATURES,
DEFAULT_PARQUET_PATH,
@@ -351,10 +351,8 @@ def lerobot_dataset_metadata_factory(
episodes=episodes,
)
with (
patch("lerobot.common.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version_patch,
patch(
"lerobot.common.datasets.lerobot_dataset.snapshot_download"
) as mock_snapshot_download_patch,
patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version_patch,
patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download_patch,
):
mock_get_safe_version_patch.side_effect = lambda repo_id, version: version
mock_snapshot_download_patch.side_effect = mock_snapshot_download
@@ -428,11 +426,9 @@ def lerobot_dataset_factory(
episodes=episode_dicts,
)
with (
patch("lerobot.common.datasets.lerobot_dataset.LeRobotDatasetMetadata") as mock_metadata_patch,
patch("lerobot.common.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version_patch,
patch(
"lerobot.common.datasets.lerobot_dataset.snapshot_download"
) as mock_snapshot_download_patch,
patch("lerobot.datasets.lerobot_dataset.LeRobotDatasetMetadata") as mock_metadata_patch,
patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version_patch,
patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download_patch,
):
mock_metadata_patch.return_value = mock_metadata
mock_get_safe_version_patch.side_effect = lambda repo_id, version: version

2
tests/fixtures/files.py vendored
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@@ -20,7 +20,7 @@ import pyarrow.compute as pc
import pyarrow.parquet as pq
import pytest
from lerobot.common.datasets.utils import (
from lerobot.datasets.utils import (
EPISODES_PATH,
EPISODES_STATS_PATH,
INFO_PATH,

2
tests/fixtures/hub.py vendored
View File

@@ -17,7 +17,7 @@ import datasets
import pytest
from huggingface_hub.utils import filter_repo_objects
from lerobot.common.datasets.utils import (
from lerobot.datasets.utils import (
EPISODES_PATH,
EPISODES_STATS_PATH,
INFO_PATH,

4
tests/fixtures/optimizers.py vendored
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@@ -14,8 +14,8 @@
import pytest
import torch
from lerobot.common.optim.optimizers import AdamConfig
from lerobot.common.optim.schedulers import VQBeTSchedulerConfig
from lerobot.optim.optimizers import AdamConfig
from lerobot.optim.schedulers import VQBeTSchedulerConfig
@pytest.fixture

2
tests/mocks/mock_dynamixel.py
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@@ -5,7 +5,7 @@ import dynamixel_sdk as dxl
import serial
from mock_serial.mock_serial import MockSerial
from lerobot.common.motors.dynamixel.dynamixel import _split_into_byte_chunks
from lerobot.motors.dynamixel.dynamixel import _split_into_byte_chunks
from .mock_serial_patch import WaitableStub

2
tests/mocks/mock_feetech.py
View File

@@ -5,7 +5,7 @@ import scservo_sdk as scs
import serial
from mock_serial import MockSerial
from lerobot.common.motors.feetech.feetech import _split_into_byte_chunks, patch_setPacketTimeout
from lerobot.motors.feetech.feetech import _split_into_byte_chunks, patch_setPacketTimeout
from .mock_serial_patch import WaitableStub

2
tests/mocks/mock_motors_bus.py
View File

@@ -1,6 +1,6 @@
# ruff: noqa: N802
from lerobot.common.motors.motors_bus import (
from lerobot.motors.motors_bus import (
Motor,
MotorsBus,
)

6
tests/mocks/mock_robot.py
View File

@@ -3,9 +3,9 @@ from dataclasses import dataclass, field
from functools import cached_property
from typing import Any
from lerobot.common.cameras import CameraConfig, make_cameras_from_configs
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.robots import Robot, RobotConfig
from lerobot.cameras import CameraConfig, make_cameras_from_configs
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.robots import Robot, RobotConfig
@RobotConfig.register_subclass("mock_robot")

4
tests/mocks/mock_teleop.py
View File

@@ -3,8 +3,8 @@ from dataclasses import dataclass
from functools import cached_property
from typing import Any
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.teleoperators import Teleoperator, TeleoperatorConfig
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.teleoperators import Teleoperator, TeleoperatorConfig
@TeleoperatorConfig.register_subclass("mock_teleop")

10
tests/motors/test_dynamixel.py
View File

@@ -5,10 +5,10 @@ from unittest.mock import MagicMock, patch
import pytest
from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.common.motors.dynamixel import MODEL_NUMBER_TABLE, DynamixelMotorsBus
from lerobot.common.motors.dynamixel.tables import X_SERIES_CONTROL_TABLE
from lerobot.common.utils.encoding_utils import encode_twos_complement
from lerobot.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.motors.dynamixel import MODEL_NUMBER_TABLE, DynamixelMotorsBus
from lerobot.motors.dynamixel.tables import X_SERIES_CONTROL_TABLE
from lerobot.utils.encoding_utils import encode_twos_complement
try:
import dynamixel_sdk as dxl
@@ -389,7 +389,7 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
read_pos_stub = mock_motors.build_sequential_sync_read_stub(
*X_SERIES_CONTROL_TABLE["Present_Position"], positions
)
with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
with patch("lerobot.motors.motors_bus.enter_pressed", side_effect=[False, True]):
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(handshake=False)

10
tests/motors/test_feetech.py
View File

@@ -5,10 +5,10 @@ from unittest.mock import MagicMock, patch
import pytest
from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.common.motors.feetech import MODEL_NUMBER, MODEL_NUMBER_TABLE, FeetechMotorsBus
from lerobot.common.motors.feetech.tables import STS_SMS_SERIES_CONTROL_TABLE
from lerobot.common.utils.encoding_utils import encode_sign_magnitude
from lerobot.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.motors.feetech import MODEL_NUMBER, MODEL_NUMBER_TABLE, FeetechMotorsBus
from lerobot.motors.feetech.tables import STS_SMS_SERIES_CONTROL_TABLE
from lerobot.utils.encoding_utils import encode_sign_magnitude
try:
import scservo_sdk as scs
@@ -432,7 +432,7 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
stub = mock_motors.build_sequential_sync_read_stub(
*STS_SMS_SERIES_CONTROL_TABLE["Present_Position"], positions
)
with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
with patch("lerobot.motors.motors_bus.enter_pressed", side_effect=[False, True]):
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(handshake=False)

2
tests/motors/test_motors_bus.py
View File

@@ -3,7 +3,7 @@ from unittest.mock import patch
import pytest
from lerobot.common.motors.motors_bus import (
from lerobot.motors.motors_bus import (
Motor,
MotorNormMode,
assert_same_address,

4
tests/optim/test_optimizers.py
View File

@@ -14,11 +14,11 @@
import pytest
import torch
from lerobot.common.constants import (
from lerobot.constants import (
OPTIMIZER_PARAM_GROUPS,
OPTIMIZER_STATE,
)
from lerobot.common.optim.optimizers import (
from lerobot.optim.optimizers import (
AdamConfig,
AdamWConfig,
MultiAdamConfig,

4
tests/optim/test_schedulers.py
View File

@@ -13,8 +13,8 @@
# limitations under the License.
from torch.optim.lr_scheduler import LambdaLR
from lerobot.common.constants import SCHEDULER_STATE
from lerobot.common.optim.schedulers import (
from lerobot.constants import SCHEDULER_STATE
from lerobot.optim.schedulers import (
CosineDecayWithWarmupSchedulerConfig,
DiffuserSchedulerConfig,
VQBeTSchedulerConfig,

12
tests/policies/hilserl/test_modeling_classifier.py
View File

@@ -16,9 +16,9 @@
import torch
from lerobot.common.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
from lerobot.common.policies.sac.reward_model.modeling_classifier import ClassifierOutput
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
from lerobot.policies.sac.reward_model.modeling_classifier import ClassifierOutput
from tests.utils import require_package
@@ -37,7 +37,7 @@ def test_classifier_output():
@require_package("transformers")
def test_binary_classifier_with_default_params():
from lerobot.common.policies.sac.reward_model.modeling_classifier import Classifier
from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
config = RewardClassifierConfig()
config.input_features = {
@@ -78,7 +78,7 @@ def test_binary_classifier_with_default_params():
@require_package("transformers")
def test_multiclass_classifier():
from lerobot.common.policies.sac.reward_model.modeling_classifier import Classifier
from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
num_classes = 5
config = RewardClassifierConfig()
@@ -117,7 +117,7 @@ def test_multiclass_classifier():
@require_package("transformers")
def test_default_device():
from lerobot.common.policies.sac.reward_model.modeling_classifier import Classifier
from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
config = RewardClassifierConfig()
assert config.device == "cpu"
@@ -129,7 +129,7 @@ def test_default_device():
@require_package("transformers")
def test_explicit_device_setup():
from lerobot.common.policies.sac.reward_model.modeling_classifier import Classifier
from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
config = RewardClassifierConfig(device="cpu")
assert config.device == "cpu"

26
tests/policies/test_policies.py
View File

@@ -24,23 +24,23 @@ from packaging import version
from safetensors.torch import load_file
from lerobot import available_policies
from lerobot.common.datasets.factory import make_dataset
from lerobot.common.datasets.utils import cycle, dataset_to_policy_features
from lerobot.common.envs.factory import make_env, make_env_config
from lerobot.common.envs.utils import preprocess_observation
from lerobot.common.optim.factory import make_optimizer_and_scheduler
from lerobot.common.policies.act.modeling_act import ACTTemporalEnsembler
from lerobot.common.policies.factory import (
from lerobot.configs.default import DatasetConfig
from lerobot.configs.train import TrainPipelineConfig
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.datasets.factory import make_dataset
from lerobot.datasets.utils import cycle, dataset_to_policy_features
from lerobot.envs.factory import make_env, make_env_config
from lerobot.envs.utils import preprocess_observation
from lerobot.optim.factory import make_optimizer_and_scheduler
from lerobot.policies.act.modeling_act import ACTTemporalEnsembler
from lerobot.policies.factory import (
get_policy_class,
make_policy,
make_policy_config,
)
from lerobot.common.policies.normalize import Normalize, Unnormalize
from lerobot.common.policies.pretrained import PreTrainedPolicy
from lerobot.common.utils.random_utils import seeded_context
from lerobot.configs.default import DatasetConfig
from lerobot.configs.train import TrainPipelineConfig
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.policies.normalize import Normalize, Unnormalize
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.utils.random_utils import seeded_context
from tests.artifacts.policies.save_policy_to_safetensors import get_policy_stats
from tests.utils import DEVICE, require_cpu, require_env, require_x86_64_kernel

4
tests/policies/test_sac_config.py
View File

@@ -16,7 +16,8 @@
import pytest
from lerobot.common.policies.sac.configuration_sac import (
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.policies.sac.configuration_sac import (
ActorLearnerConfig,
ActorNetworkConfig,
ConcurrencyConfig,
@@ -24,7 +25,6 @@ from lerobot.common.policies.sac.configuration_sac import (
PolicyConfig,
SACConfig,
)
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
def test_sac_config_default_initialization():

6
tests/policies/test_sac_policy.py
View File

@@ -20,10 +20,10 @@ import pytest
import torch
from torch import Tensor, nn
from lerobot.common.policies.sac.configuration_sac import SACConfig
from lerobot.common.policies.sac.modeling_sac import MLP, SACPolicy
from lerobot.common.utils.random_utils import seeded_context, set_seed
from lerobot.configs.types import FeatureType, PolicyFeature
from lerobot.policies.sac.configuration_sac import SACConfig
from lerobot.policies.sac.modeling_sac import MLP, SACPolicy
from lerobot.utils.random_utils import seeded_context, set_seed
try:
import transformers # noqa: F401

8
tests/rl/test_actor.py
View File

@@ -21,14 +21,14 @@ import pytest
import torch
from torch.multiprocessing import Event, Queue
from lerobot.common.utils.transition import Transition
from lerobot.utils.transition import Transition
from tests.utils import require_package
def create_learner_service_stub():
import grpc
from lerobot.common.transport import services_pb2, services_pb2_grpc
from lerobot.transport import services_pb2, services_pb2_grpc
class MockLearnerService(services_pb2_grpc.LearnerServiceServicer):
def __init__(self):
@@ -101,8 +101,8 @@ def test_establish_learner_connection_failure():
@require_package("grpc")
def test_push_transitions_to_transport_queue():
from lerobot.common.transport.utils import bytes_to_transitions
from lerobot.scripts.rl.actor import push_transitions_to_transport_queue
from lerobot.transport.utils import bytes_to_transitions
from tests.transport.test_transport_utils import assert_transitions_equal
"""Test pushing transitions to transport queue."""
@@ -169,8 +169,8 @@ def test_transitions_stream():
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_interactions_stream():
from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
from lerobot.scripts.rl.actor import interactions_stream
from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
"""Test interactions stream functionality."""
shutdown_event = Event()

10
tests/rl/test_actor_learner.py
View File

@@ -22,9 +22,9 @@ import pytest
import torch
from torch.multiprocessing import Event, Queue
from lerobot.common.policies.sac.configuration_sac import SACConfig
from lerobot.common.utils.transition import Transition
from lerobot.configs.train import TrainRLServerPipelineConfig
from lerobot.policies.sac.configuration_sac import SACConfig
from lerobot.utils.transition import Transition
from tests.utils import require_package
@@ -90,7 +90,6 @@ def cfg():
@require_package("grpc")
@pytest.mark.timeout(10) # force cross-platform watchdog
def test_end_to_end_transitions_flow(cfg):
from lerobot.common.transport.utils import bytes_to_transitions
from lerobot.scripts.rl.actor import (
establish_learner_connection,
learner_service_client,
@@ -98,6 +97,7 @@ def test_end_to_end_transitions_flow(cfg):
send_transitions,
)
from lerobot.scripts.rl.learner import start_learner
from lerobot.transport.utils import bytes_to_transitions
from tests.transport.test_transport_utils import assert_transitions_equal
"""Test complete transitions flow from actor to learner."""
@@ -152,13 +152,13 @@ def test_end_to_end_transitions_flow(cfg):
@require_package("grpc")
@pytest.mark.timeout(10)
def test_end_to_end_interactions_flow(cfg):
from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
from lerobot.scripts.rl.actor import (
establish_learner_connection,
learner_service_client,
send_interactions,
)
from lerobot.scripts.rl.learner import start_learner
from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
"""Test complete interactions flow from actor to learner."""
# Queues for actor-learner communication
@@ -226,9 +226,9 @@ def test_end_to_end_interactions_flow(cfg):
@pytest.mark.parametrize("data_size", ["small", "large"])
@pytest.mark.timeout(10)
def test_end_to_end_parameters_flow(cfg, data_size):
from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
from lerobot.scripts.rl.actor import establish_learner_connection, learner_service_client, receive_policy
from lerobot.scripts.rl.learner import start_learner
from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
"""Test complete parameter flow from learner to actor, with small and large data."""
# Actor's local queue to receive params

16
tests/rl/test_learner_service.py
View File

@@ -50,8 +50,8 @@ def create_learner_service_stub(
):
import grpc
from lerobot.common.transport import services_pb2_grpc # generated from .proto
from lerobot.scripts.rl.learner_service import LearnerService
from lerobot.transport import services_pb2_grpc # generated from .proto
"""Fixture to start a LearnerService gRPC server and provide a connected stub."""
@@ -83,7 +83,7 @@ def close_learner_service_stub(channel, server):
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_ready_method(learner_service_stub):
from lerobot.common.transport import services_pb2
from lerobot.transport import services_pb2
"""Test the ready method of the UserService."""
request = services_pb2.Empty()
@@ -94,7 +94,7 @@ def test_ready_method(learner_service_stub):
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_send_interactions():
from lerobot.common.transport import services_pb2
from lerobot.transport import services_pb2
shutdown_event = Event()
@@ -138,7 +138,7 @@ def test_send_interactions():
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_send_transitions():
from lerobot.common.transport import services_pb2
from lerobot.transport import services_pb2
"""Test the SendTransitions method with various transition data."""
shutdown_event = Event()
@@ -184,7 +184,7 @@ def test_send_transitions():
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_send_transitions_empty_stream():
from lerobot.common.transport import services_pb2
from lerobot.transport import services_pb2
"""Test SendTransitions with empty stream."""
shutdown_event = Event()
@@ -214,7 +214,7 @@ def test_send_transitions_empty_stream():
def test_stream_parameters():
import time
from lerobot.common.transport import services_pb2
from lerobot.transport import services_pb2
"""Test the StreamParameters method."""
shutdown_event = Event()
@@ -270,7 +270,7 @@ def test_stream_parameters():
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_stream_parameters_with_shutdown():
from lerobot.common.transport import services_pb2
from lerobot.transport import services_pb2
"""Test StreamParameters handles shutdown gracefully."""
shutdown_event = Event()
@@ -325,7 +325,7 @@ def test_stream_parameters_waits_and_retries_on_empty_queue():
import threading
import time
from lerobot.common.transport import services_pb2
from lerobot.transport import services_pb2
"""Test that StreamParameters waits and retries when the queue is empty."""
shutdown_event = Event()

4
tests/robots/test_so100_follower.py
View File

@@ -3,7 +3,7 @@ from unittest.mock import MagicMock, patch
import pytest
from lerobot.common.robots.so100_follower import (
from lerobot.robots.so100_follower import (
SO100Follower,
SO100FollowerConfig,
)
@@ -50,7 +50,7 @@ def follower():
with (
patch(
"lerobot.common.robots.so100_follower.so100_follower.FeetechMotorsBus",
"lerobot.robots.so100_follower.so100_follower.FeetechMotorsBus",
side_effect=_bus_side_effect,
),
patch.object(SO100Follower, "configure", lambda self: None),

8
tests/test_available.py
View File

@@ -19,10 +19,10 @@ import gymnasium as gym
import pytest
import lerobot
from lerobot.common.policies.act.modeling_act import ACTPolicy
from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
from lerobot.common.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
from lerobot.common.policies.vqbet.modeling_vqbet import VQBeTPolicy
from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
from lerobot.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
from lerobot.policies.vqbet.modeling_vqbet import VQBeTPolicy
from tests.utils import require_env

60
tests/transport/test_transport_utils.py
View File

@@ -21,13 +21,13 @@ from pickle import UnpicklingError
import pytest
import torch
from lerobot.common.utils.transition import Transition
from lerobot.utils.transition import Transition
from tests.utils import require_cuda, require_package
@require_package("grpc")
def test_bytes_buffer_size_empty_buffer():
from lerobot.common.transport.utils import bytes_buffer_size
from lerobot.transport.utils import bytes_buffer_size
"""Test with an empty buffer."""
buffer = io.BytesIO()
@@ -38,7 +38,7 @@ def test_bytes_buffer_size_empty_buffer():
@require_package("grpc")
def test_bytes_buffer_size_small_buffer():
from lerobot.common.transport.utils import bytes_buffer_size
from lerobot.transport.utils import bytes_buffer_size
"""Test with a small buffer."""
buffer = io.BytesIO(b"Hello, World!")
@@ -48,7 +48,7 @@ def test_bytes_buffer_size_small_buffer():
@require_package("grpc")
def test_bytes_buffer_size_large_buffer():
from lerobot.common.transport.utils import CHUNK_SIZE, bytes_buffer_size
from lerobot.transport.utils import CHUNK_SIZE, bytes_buffer_size
"""Test with a large buffer."""
data = b"x" * (CHUNK_SIZE * 2 + 1000)
@@ -59,7 +59,7 @@ def test_bytes_buffer_size_large_buffer():
@require_package("grpc")
def test_send_bytes_in_chunks_empty_data():
from lerobot.common.transport.utils import send_bytes_in_chunks, services_pb2
from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
"""Test sending empty data."""
message_class = services_pb2.InteractionMessage
@@ -69,7 +69,7 @@ def test_send_bytes_in_chunks_empty_data():
@require_package("grpc")
def test_single_chunk_small_data():
from lerobot.common.transport.utils import send_bytes_in_chunks, services_pb2
from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
"""Test data that fits in a single chunk."""
data = b"Some data"
@@ -83,7 +83,7 @@ def test_single_chunk_small_data():
@require_package("grpc")
def test_not_silent_mode():
from lerobot.common.transport.utils import send_bytes_in_chunks, services_pb2
from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
"""Test not silent mode."""
data = b"Some data"
@@ -95,7 +95,7 @@ def test_not_silent_mode():
@require_package("grpc")
def test_send_bytes_in_chunks_large_data():
from lerobot.common.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
"""Test sending large data."""
data = b"x" * (CHUNK_SIZE * 2 + 1000)
@@ -112,7 +112,7 @@ def test_send_bytes_in_chunks_large_data():
@require_package("grpc")
def test_send_bytes_in_chunks_large_data_with_exact_chunk_size():
from lerobot.common.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
"""Test sending large data with exact chunk size."""
data = b"x" * CHUNK_SIZE
@@ -125,7 +125,7 @@ def test_send_bytes_in_chunks_large_data_with_exact_chunk_size():
@require_package("grpc")
def test_receive_bytes_in_chunks_empty_data():
from lerobot.common.transport.utils import receive_bytes_in_chunks
from lerobot.transport.utils import receive_bytes_in_chunks
"""Test receiving empty data."""
queue = Queue()
@@ -139,7 +139,7 @@ def test_receive_bytes_in_chunks_empty_data():
@require_package("grpc")
def test_receive_bytes_in_chunks_single_chunk():
from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
"""Test receiving a single chunk message."""
queue = Queue()
@@ -158,7 +158,7 @@ def test_receive_bytes_in_chunks_single_chunk():
@require_package("grpc")
def test_receive_bytes_in_chunks_single_not_end_chunk():
from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
"""Test receiving a single chunk message."""
queue = Queue()
@@ -176,7 +176,7 @@ def test_receive_bytes_in_chunks_single_not_end_chunk():
@require_package("grpc")
def test_receive_bytes_in_chunks_multiple_chunks():
from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
"""Test receiving a multi-chunk message."""
queue = Queue()
@@ -200,7 +200,7 @@ def test_receive_bytes_in_chunks_multiple_chunks():
@require_package("grpc")
def test_receive_bytes_in_chunks_multiple_messages():
from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
"""Test receiving multiple complete messages in sequence."""
queue = Queue()
@@ -236,7 +236,7 @@ def test_receive_bytes_in_chunks_multiple_messages():
@require_package("grpc")
def test_receive_bytes_in_chunks_shutdown_during_receive():
from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
"""Test that shutdown event stops receiving mid-stream."""
queue = Queue()
@@ -260,7 +260,7 @@ def test_receive_bytes_in_chunks_shutdown_during_receive():
@require_package("grpc")
def test_receive_bytes_in_chunks_only_begin_chunk():
from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
"""Test receiving only a BEGIN chunk without END."""
queue = Queue()
@@ -280,7 +280,7 @@ def test_receive_bytes_in_chunks_only_begin_chunk():
@require_package("grpc")
def test_receive_bytes_in_chunks_missing_begin():
from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
"""Test receiving chunks starting with MIDDLE instead of BEGIN."""
queue = Queue()
@@ -304,7 +304,7 @@ def test_receive_bytes_in_chunks_missing_begin():
# Tests for state_to_bytes and bytes_to_state_dict
@require_package("grpc")
def test_state_to_bytes_empty_dict():
from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
"""Test converting empty state dict to bytes."""
state_dict = {}
@@ -315,7 +315,7 @@ def test_state_to_bytes_empty_dict():
@require_package("grpc")
def test_bytes_to_state_dict_empty_data():
from lerobot.common.transport.utils import bytes_to_state_dict
from lerobot.transport.utils import bytes_to_state_dict
"""Test converting empty data to state dict."""
with pytest.raises(EOFError):
@@ -324,7 +324,7 @@ def test_bytes_to_state_dict_empty_data():
@require_package("grpc")
def test_state_to_bytes_simple_dict():
from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
"""Test converting simple state dict to bytes."""
state_dict = {
@@ -348,7 +348,7 @@ def test_state_to_bytes_simple_dict():
@require_package("grpc")
def test_state_to_bytes_various_dtypes():
from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
"""Test converting state dict with various tensor dtypes."""
state_dict = {
@@ -373,7 +373,7 @@ def test_state_to_bytes_various_dtypes():
@require_package("grpc")
def test_bytes_to_state_dict_invalid_data():
from lerobot.common.transport.utils import bytes_to_state_dict
from lerobot.transport.utils import bytes_to_state_dict
"""Test bytes_to_state_dict with invalid data."""
with pytest.raises(UnpicklingError):
@@ -383,7 +383,7 @@ def test_bytes_to_state_dict_invalid_data():
@require_cuda
@require_package("grpc")
def test_state_to_bytes_various_dtypes_cuda():
from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
"""Test converting state dict with various tensor dtypes."""
state_dict = {
@@ -408,7 +408,7 @@ def test_state_to_bytes_various_dtypes_cuda():
@require_package("grpc")
def test_python_object_to_bytes_none():
from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
"""Test converting None to bytes."""
obj = None
@@ -440,7 +440,7 @@ def test_python_object_to_bytes_none():
)
@require_package("grpc")
def test_python_object_to_bytes_simple_types(obj):
from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
"""Test converting simple Python types."""
data = python_object_to_bytes(obj)
@@ -451,7 +451,7 @@ def test_python_object_to_bytes_simple_types(obj):
@require_package("grpc")
def test_python_object_to_bytes_with_tensors():
from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
"""Test converting objects containing PyTorch tensors."""
obj = {
@@ -476,7 +476,7 @@ def test_python_object_to_bytes_with_tensors():
@require_package("grpc")
def test_transitions_to_bytes_empty_list():
from lerobot.common.transport.utils import bytes_to_transitions, transitions_to_bytes
from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
"""Test converting empty transitions list."""
transitions = []
@@ -488,7 +488,7 @@ def test_transitions_to_bytes_empty_list():
@require_package("grpc")
def test_transitions_to_bytes_single_transition():
from lerobot.common.transport.utils import bytes_to_transitions, transitions_to_bytes
from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
"""Test converting a single transition."""
transition = Transition(
@@ -528,7 +528,7 @@ def assert_observation_equal(o1: dict, o2: dict):
@require_package("grpc")
def test_transitions_to_bytes_multiple_transitions():
from lerobot.common.transport.utils import bytes_to_transitions, transitions_to_bytes
from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
"""Test converting multiple transitions."""
transitions = []
@@ -552,7 +552,7 @@ def test_transitions_to_bytes_multiple_transitions():
@require_package("grpc")
def test_receive_bytes_in_chunks_unknown_state():
from lerobot.common.transport.utils import receive_bytes_in_chunks
from lerobot.transport.utils import receive_bytes_in_chunks
"""Test receive_bytes_in_chunks with an unknown transfer state."""

2
tests/utils.py
View File

@@ -21,7 +21,7 @@ import pytest
import torch
from lerobot import available_cameras, available_motors, available_robots
from lerobot.common.utils.import_utils import is_package_available
from lerobot.utils.import_utils import is_package_available
DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu"

2
tests/utils/test_encoding_utils.py
View File

@@ -1,6 +1,6 @@
import pytest
from lerobot.common.utils.encoding_utils import (
from lerobot.utils.encoding_utils import (
decode_sign_magnitude,
decode_twos_complement,
encode_sign_magnitude,

2
tests/utils/test_io_utils.py
View File

@@ -17,7 +17,7 @@ from typing import Any
import pytest
from lerobot.common.utils.io_utils import deserialize_json_into_object
from lerobot.utils.io_utils import deserialize_json_into_object
@pytest.fixture

2
tests/utils/test_logging_utils.py
View File

@@ -13,7 +13,7 @@
# limitations under the License.
import pytest
from lerobot.common.utils.logging_utils import AverageMeter, MetricsTracker
from lerobot.utils.logging_utils import AverageMeter, MetricsTracker
@pytest.fixture

2
tests/utils/test_process.py
View File

@@ -22,7 +22,7 @@ from unittest.mock import patch
import pytest
from lerobot.common.utils.process import ProcessSignalHandler
from lerobot.utils.process import ProcessSignalHandler
# Fixture to reset shutdown_event_counter and original signal handlers before and after each test

2
tests/utils/test_queue.py
View File

@@ -18,7 +18,7 @@ import threading
import time
from queue import Queue
from lerobot.common.utils.queue import get_last_item_from_queue
from lerobot.utils.queue import get_last_item_from_queue
def test_get_last_item_single_item():

2
tests/utils/test_random_utils.py
View File

@@ -17,7 +17,7 @@ import numpy as np
import pytest
import torch
from lerobot.common.utils.random_utils import (
from lerobot.utils.random_utils import (
deserialize_numpy_rng_state,
deserialize_python_rng_state,
deserialize_rng_state,

4
tests/utils/test_replay_buffer.py
View File

@@ -20,8 +20,8 @@ from typing import Callable
import pytest
import torch
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.utils.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.utils.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
from tests.fixtures.constants import DUMMY_REPO_ID

6
tests/utils/test_train_utils.py
View File

@@ -14,7 +14,7 @@
from pathlib import Path
from unittest.mock import Mock, patch
from lerobot.common.constants import (
from lerobot.constants import (
CHECKPOINTS_DIR,
LAST_CHECKPOINT_LINK,
OPTIMIZER_PARAM_GROUPS,
@@ -24,7 +24,7 @@ from lerobot.common.constants import (
TRAINING_STATE_DIR,
TRAINING_STEP,
)
from lerobot.common.utils.train_utils import (
from lerobot.utils.train_utils import (
get_step_checkpoint_dir,
get_step_identifier,
load_training_state,
@@ -69,7 +69,7 @@ def test_update_last_checkpoint(tmp_path):
assert last_checkpoint.resolve() == checkpoint
@patch("lerobot.common.utils.train_utils.save_training_state")
@patch("lerobot.utils.train_utils.save_training_state")
def test_save_checkpoint(mock_save_training_state, tmp_path, optimizer):
policy = Mock()
cfg = Mock()