d4ee470b00
* 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
572 lines
19 KiB
Python
572 lines
19 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 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 io
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from multiprocessing import Event, Queue
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from pickle import UnpicklingError
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import pytest
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import torch
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from lerobot.utils.transition import Transition
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from tests.utils import require_cuda, require_package
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@require_package("grpc")
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def test_bytes_buffer_size_empty_buffer():
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from lerobot.transport.utils import bytes_buffer_size
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"""Test with an empty buffer."""
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buffer = io.BytesIO()
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assert bytes_buffer_size(buffer) == 0
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# Ensure position is reset to beginning
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assert buffer.tell() == 0
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@require_package("grpc")
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def test_bytes_buffer_size_small_buffer():
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from lerobot.transport.utils import bytes_buffer_size
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"""Test with a small buffer."""
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buffer = io.BytesIO(b"Hello, World!")
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assert bytes_buffer_size(buffer) == 13
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assert buffer.tell() == 0
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@require_package("grpc")
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def test_bytes_buffer_size_large_buffer():
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from lerobot.transport.utils import CHUNK_SIZE, bytes_buffer_size
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"""Test with a large buffer."""
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data = b"x" * (CHUNK_SIZE * 2 + 1000)
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buffer = io.BytesIO(data)
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assert bytes_buffer_size(buffer) == len(data)
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assert buffer.tell() == 0
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@require_package("grpc")
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def test_send_bytes_in_chunks_empty_data():
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from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
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"""Test sending empty data."""
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message_class = services_pb2.InteractionMessage
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chunks = list(send_bytes_in_chunks(b"", message_class))
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assert len(chunks) == 0
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@require_package("grpc")
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def test_single_chunk_small_data():
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from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
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"""Test data that fits in a single chunk."""
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data = b"Some data"
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message_class = services_pb2.InteractionMessage
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chunks = list(send_bytes_in_chunks(data, message_class))
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assert len(chunks) == 1
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assert chunks[0].data == b"Some data"
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assert chunks[0].transfer_state == services_pb2.TransferState.TRANSFER_END
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@require_package("grpc")
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def test_not_silent_mode():
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from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
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"""Test not silent mode."""
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data = b"Some data"
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message_class = services_pb2.InteractionMessage
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chunks = list(send_bytes_in_chunks(data, message_class, silent=False))
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assert len(chunks) == 1
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assert chunks[0].data == b"Some data"
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@require_package("grpc")
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def test_send_bytes_in_chunks_large_data():
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from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
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"""Test sending large data."""
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data = b"x" * (CHUNK_SIZE * 2 + 1000)
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message_class = services_pb2.InteractionMessage
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chunks = list(send_bytes_in_chunks(data, message_class))
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assert len(chunks) == 3
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assert chunks[0].data == b"x" * CHUNK_SIZE
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assert chunks[0].transfer_state == services_pb2.TransferState.TRANSFER_BEGIN
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assert chunks[1].data == b"x" * CHUNK_SIZE
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assert chunks[1].transfer_state == services_pb2.TransferState.TRANSFER_MIDDLE
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assert chunks[2].data == b"x" * 1000
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assert chunks[2].transfer_state == services_pb2.TransferState.TRANSFER_END
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@require_package("grpc")
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def test_send_bytes_in_chunks_large_data_with_exact_chunk_size():
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from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
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"""Test sending large data with exact chunk size."""
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data = b"x" * CHUNK_SIZE
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message_class = services_pb2.InteractionMessage
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chunks = list(send_bytes_in_chunks(data, message_class))
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assert len(chunks) == 1
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assert chunks[0].data == data
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assert chunks[0].transfer_state == services_pb2.TransferState.TRANSFER_END
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@require_package("grpc")
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def test_receive_bytes_in_chunks_empty_data():
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from lerobot.transport.utils import receive_bytes_in_chunks
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"""Test receiving empty data."""
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queue = Queue()
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shutdown_event = Event()
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# Empty iterator
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receive_bytes_in_chunks(iter([]), queue, shutdown_event)
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assert queue.empty()
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@require_package("grpc")
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def test_receive_bytes_in_chunks_single_chunk():
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving a single chunk message."""
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queue = Queue()
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shutdown_event = Event()
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data = b"Single chunk data"
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chunks = [
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services_pb2.InteractionMessage(data=data, transfer_state=services_pb2.TransferState.TRANSFER_END)
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]
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receive_bytes_in_chunks(iter(chunks), queue, shutdown_event)
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assert queue.get(timeout=0.01) == data
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assert queue.empty()
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@require_package("grpc")
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def test_receive_bytes_in_chunks_single_not_end_chunk():
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving a single chunk message."""
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queue = Queue()
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shutdown_event = Event()
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data = b"Single chunk data"
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chunks = [
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services_pb2.InteractionMessage(data=data, transfer_state=services_pb2.TransferState.TRANSFER_MIDDLE)
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]
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receive_bytes_in_chunks(iter(chunks), queue, shutdown_event)
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assert queue.empty()
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@require_package("grpc")
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def test_receive_bytes_in_chunks_multiple_chunks():
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving a multi-chunk message."""
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queue = Queue()
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shutdown_event = Event()
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chunks = [
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services_pb2.InteractionMessage(
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data=b"First ", transfer_state=services_pb2.TransferState.TRANSFER_BEGIN
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),
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services_pb2.InteractionMessage(
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data=b"Middle ", transfer_state=services_pb2.TransferState.TRANSFER_MIDDLE
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),
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services_pb2.InteractionMessage(data=b"Last", transfer_state=services_pb2.TransferState.TRANSFER_END),
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]
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receive_bytes_in_chunks(iter(chunks), queue, shutdown_event)
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assert queue.get(timeout=0.01) == b"First Middle Last"
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assert queue.empty()
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@require_package("grpc")
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def test_receive_bytes_in_chunks_multiple_messages():
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving multiple complete messages in sequence."""
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queue = Queue()
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shutdown_event = Event()
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chunks = [
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# First message - single chunk
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services_pb2.InteractionMessage(
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data=b"Message1", transfer_state=services_pb2.TransferState.TRANSFER_END
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),
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# Second message - multi chunk
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services_pb2.InteractionMessage(
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data=b"Start2 ", transfer_state=services_pb2.TransferState.TRANSFER_BEGIN
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),
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services_pb2.InteractionMessage(
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data=b"Middle2 ", transfer_state=services_pb2.TransferState.TRANSFER_MIDDLE
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),
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services_pb2.InteractionMessage(data=b"End2", transfer_state=services_pb2.TransferState.TRANSFER_END),
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# Third message - single chunk
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services_pb2.InteractionMessage(
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data=b"Message3", transfer_state=services_pb2.TransferState.TRANSFER_END
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),
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]
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receive_bytes_in_chunks(iter(chunks), queue, shutdown_event)
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# Should have three messages in queue
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assert queue.get(timeout=0.01) == b"Message1"
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assert queue.get(timeout=0.01) == b"Start2 Middle2 End2"
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assert queue.get(timeout=0.01) == b"Message3"
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assert queue.empty()
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@require_package("grpc")
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def test_receive_bytes_in_chunks_shutdown_during_receive():
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test that shutdown event stops receiving mid-stream."""
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queue = Queue()
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shutdown_event = Event()
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shutdown_event.set()
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chunks = [
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services_pb2.InteractionMessage(
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data=b"First ", transfer_state=services_pb2.TransferState.TRANSFER_BEGIN
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),
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services_pb2.InteractionMessage(
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data=b"Middle ", transfer_state=services_pb2.TransferState.TRANSFER_MIDDLE
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),
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services_pb2.InteractionMessage(data=b"Last", transfer_state=services_pb2.TransferState.TRANSFER_END),
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]
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receive_bytes_in_chunks(iter(chunks), queue, shutdown_event)
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assert queue.empty()
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@require_package("grpc")
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def test_receive_bytes_in_chunks_only_begin_chunk():
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving only a BEGIN chunk without END."""
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queue = Queue()
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shutdown_event = Event()
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chunks = [
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services_pb2.InteractionMessage(
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data=b"Start", transfer_state=services_pb2.TransferState.TRANSFER_BEGIN
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),
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# No END chunk
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]
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receive_bytes_in_chunks(iter(chunks), queue, shutdown_event)
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assert queue.empty()
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@require_package("grpc")
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def test_receive_bytes_in_chunks_missing_begin():
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving chunks starting with MIDDLE instead of BEGIN."""
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queue = Queue()
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shutdown_event = Event()
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chunks = [
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# Missing BEGIN
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services_pb2.InteractionMessage(
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data=b"Middle", transfer_state=services_pb2.TransferState.TRANSFER_MIDDLE
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),
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services_pb2.InteractionMessage(data=b"End", transfer_state=services_pb2.TransferState.TRANSFER_END),
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]
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receive_bytes_in_chunks(iter(chunks), queue, shutdown_event)
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# The implementation continues from where it is, so we should get partial data
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assert queue.get(timeout=0.01) == b"MiddleEnd"
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assert queue.empty()
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# Tests for state_to_bytes and bytes_to_state_dict
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@require_package("grpc")
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def test_state_to_bytes_empty_dict():
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from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
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"""Test converting empty state dict to bytes."""
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state_dict = {}
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data = state_to_bytes(state_dict)
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reconstructed = bytes_to_state_dict(data)
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assert reconstructed == state_dict
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@require_package("grpc")
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def test_bytes_to_state_dict_empty_data():
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from lerobot.transport.utils import bytes_to_state_dict
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"""Test converting empty data to state dict."""
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with pytest.raises(EOFError):
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bytes_to_state_dict(b"")
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@require_package("grpc")
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def test_state_to_bytes_simple_dict():
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from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
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"""Test converting simple state dict to bytes."""
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state_dict = {
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"layer1.weight": torch.randn(10, 5),
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"layer1.bias": torch.randn(10),
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"layer2.weight": torch.randn(1, 10),
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"layer2.bias": torch.randn(1),
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}
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data = state_to_bytes(state_dict)
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assert isinstance(data, bytes)
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assert len(data) > 0
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reconstructed = bytes_to_state_dict(data)
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assert len(reconstructed) == len(state_dict)
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for key in state_dict:
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assert key in reconstructed
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assert torch.allclose(state_dict[key], reconstructed[key])
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@require_package("grpc")
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def test_state_to_bytes_various_dtypes():
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from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
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"""Test converting state dict with various tensor dtypes."""
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state_dict = {
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"float32": torch.randn(5, 5),
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"float64": torch.randn(3, 3).double(),
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"int32": torch.randint(0, 100, (4, 4), dtype=torch.int32),
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"int64": torch.randint(0, 100, (2, 2), dtype=torch.int64),
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"bool": torch.tensor([True, False, True]),
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"uint8": torch.randint(0, 255, (3, 3), dtype=torch.uint8),
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}
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data = state_to_bytes(state_dict)
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reconstructed = bytes_to_state_dict(data)
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for key in state_dict:
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assert reconstructed[key].dtype == state_dict[key].dtype
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if state_dict[key].dtype == torch.bool:
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assert torch.equal(state_dict[key], reconstructed[key])
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else:
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assert torch.allclose(state_dict[key], reconstructed[key])
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@require_package("grpc")
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def test_bytes_to_state_dict_invalid_data():
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from lerobot.transport.utils import bytes_to_state_dict
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"""Test bytes_to_state_dict with invalid data."""
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with pytest.raises(UnpicklingError):
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bytes_to_state_dict(b"This is not a valid torch save file")
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@require_cuda
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@require_package("grpc")
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def test_state_to_bytes_various_dtypes_cuda():
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from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
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"""Test converting state dict with various tensor dtypes."""
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state_dict = {
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"float32": torch.randn(5, 5).cuda(),
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"float64": torch.randn(3, 3).double().cuda(),
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"int32": torch.randint(0, 100, (4, 4), dtype=torch.int32).cuda(),
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"int64": torch.randint(0, 100, (2, 2), dtype=torch.int64).cuda(),
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"bool": torch.tensor([True, False, True]),
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"uint8": torch.randint(0, 255, (3, 3), dtype=torch.uint8),
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}
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data = state_to_bytes(state_dict)
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reconstructed = bytes_to_state_dict(data)
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for key in state_dict:
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assert reconstructed[key].dtype == state_dict[key].dtype
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if state_dict[key].dtype == torch.bool:
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assert torch.equal(state_dict[key], reconstructed[key])
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else:
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assert torch.allclose(state_dict[key], reconstructed[key])
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@require_package("grpc")
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def test_python_object_to_bytes_none():
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from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
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"""Test converting None to bytes."""
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obj = None
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data = python_object_to_bytes(obj)
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reconstructed = bytes_to_python_object(data)
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assert reconstructed is None
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@pytest.mark.parametrize(
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"obj",
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[
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42,
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-123,
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3.14159,
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-2.71828,
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"Hello, World!",
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"Unicode: 你好世界 🌍",
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True,
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False,
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b"byte string",
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[],
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[1, 2, 3],
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[1, "two", 3.0, True, None],
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{},
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{"key": "value", "number": 123, "nested": {"a": 1}},
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(),
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(1, 2, 3),
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],
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)
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@require_package("grpc")
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def test_python_object_to_bytes_simple_types(obj):
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from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
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"""Test converting simple Python types."""
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data = python_object_to_bytes(obj)
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reconstructed = bytes_to_python_object(data)
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assert reconstructed == obj
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assert type(reconstructed) is type(obj)
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@require_package("grpc")
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def test_python_object_to_bytes_with_tensors():
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from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
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"""Test converting objects containing PyTorch tensors."""
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obj = {
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"tensor": torch.randn(5, 5),
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"list_with_tensor": [1, 2, torch.randn(3, 3), "string"],
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"nested": {
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"tensor1": torch.randn(2, 2),
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"tensor2": torch.tensor([1, 2, 3]),
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},
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}
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data = python_object_to_bytes(obj)
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reconstructed = bytes_to_python_object(data)
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assert torch.allclose(obj["tensor"], reconstructed["tensor"])
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assert reconstructed["list_with_tensor"][0] == 1
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assert reconstructed["list_with_tensor"][3] == "string"
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assert torch.allclose(obj["list_with_tensor"][2], reconstructed["list_with_tensor"][2])
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assert torch.allclose(obj["nested"]["tensor1"], reconstructed["nested"]["tensor1"])
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assert torch.equal(obj["nested"]["tensor2"], reconstructed["nested"]["tensor2"])
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@require_package("grpc")
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def test_transitions_to_bytes_empty_list():
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from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
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"""Test converting empty transitions list."""
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transitions = []
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data = transitions_to_bytes(transitions)
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reconstructed = bytes_to_transitions(data)
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assert reconstructed == transitions
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assert isinstance(reconstructed, list)
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@require_package("grpc")
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def test_transitions_to_bytes_single_transition():
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from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
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"""Test converting a single transition."""
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transition = Transition(
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state={"image": torch.randn(3, 64, 64), "state": torch.randn(10)},
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action=torch.randn(5),
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reward=torch.tensor(1.5),
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done=torch.tensor(False),
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next_state={"image": torch.randn(3, 64, 64), "state": torch.randn(10)},
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)
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transitions = [transition]
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data = transitions_to_bytes(transitions)
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reconstructed = bytes_to_transitions(data)
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assert len(reconstructed) == 1
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assert_transitions_equal(transitions[0], reconstructed[0])
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@require_package("grpc")
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def assert_transitions_equal(t1: Transition, t2: Transition):
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"""Helper to assert two transitions are equal."""
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assert_observation_equal(t1["state"], t2["state"])
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assert torch.allclose(t1["action"], t2["action"])
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assert torch.allclose(t1["reward"], t2["reward"])
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assert torch.equal(t1["done"], t2["done"])
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assert_observation_equal(t1["next_state"], t2["next_state"])
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@require_package("grpc")
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def assert_observation_equal(o1: dict, o2: dict):
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"""Helper to assert two observations are equal."""
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assert set(o1.keys()) == set(o2.keys())
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for key in o1:
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assert torch.allclose(o1[key], o2[key])
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@require_package("grpc")
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def test_transitions_to_bytes_multiple_transitions():
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from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
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"""Test converting multiple transitions."""
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transitions = []
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for i in range(5):
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transition = Transition(
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state={"data": torch.randn(10)},
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action=torch.randn(3),
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reward=torch.tensor(float(i)),
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done=torch.tensor(i == 4),
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next_state={"data": torch.randn(10)},
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)
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transitions.append(transition)
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data = transitions_to_bytes(transitions)
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reconstructed = bytes_to_transitions(data)
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assert len(reconstructed) == len(transitions)
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for original, reconstructed_item in zip(transitions, reconstructed, strict=False):
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assert_transitions_equal(original, reconstructed_item)
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@require_package("grpc")
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def test_receive_bytes_in_chunks_unknown_state():
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from lerobot.transport.utils import receive_bytes_in_chunks
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"""Test receive_bytes_in_chunks with an unknown transfer state."""
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# Mock the gRPC message object, which has `transfer_state` and `data` attributes.
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class MockMessage:
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def __init__(self, transfer_state, data):
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self.transfer_state = transfer_state
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self.data = data
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# 10 is not a valid TransferState enum value
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bad_iterator = [MockMessage(transfer_state=10, data=b"bad_data")]
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output_queue = Queue()
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shutdown_event = Event()
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with pytest.raises(ValueError, match="Received unknown transfer state"):
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receive_bytes_in_chunks(bad_iterator, output_queue, shutdown_event)
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