File size: 13,354 Bytes
f61b9bc |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 |
#!/usr/bin/env python
# Copyright 2025 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.
"""
Tests for processor migration detection functionality.
"""
import json
import tempfile
from pathlib import Path
import pytest
from lerobot.processor.pipeline import DataProcessorPipeline, ProcessorMigrationError
from lerobot.utils.constants import ACTION, OBS_STATE
def test_is_processor_config_valid_configs():
"""Test processor config detection with valid configurations."""
valid_configs = [
{"steps": []}, # Empty steps
{"steps": [{"class": "MyClass"}]}, # Class-based step
{"steps": [{"registry_name": "my_step"}]}, # Registry-based step
{"steps": [{"class": "A"}, {"registry_name": "B"}]}, # Mixed
{"name": "Test", "steps": [{"class": "MyClass"}]}, # With name
]
for i, config in enumerate(valid_configs):
assert DataProcessorPipeline._is_processor_config(config), (
f"Valid config {i} should be detected as processor config: {config}"
)
def test_is_processor_config_invalid_configs():
"""Test processor config detection with invalid configurations."""
invalid_configs = [
{}, # No steps field
{"steps": "not a list"}, # Steps is not a list
{"steps": [{}]}, # Step without class or registry_name
{"steps": ["not a dict"]}, # Step is not a dict
{"steps": [{"other_field": "value"}]}, # Step with wrong fields
{"other_field": "value"}, # Completely different structure
]
for i, config in enumerate(invalid_configs):
assert not DataProcessorPipeline._is_processor_config(config), (
f"Invalid config {i} should not be detected as processor config: {config}"
)
def test_should_suggest_migration_with_processor_config():
"""Test that migration is NOT suggested when processor config exists."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create a valid processor config
processor_config = {
"name": "TestProcessor",
"steps": [
{
"class": "lerobot.processor.normalize.NormalizeStep",
"config": {"mean": 0.0, "std": 1.0},
}
],
}
with open(tmp_path / "processor.json", "w") as f:
json.dump(processor_config, f)
# Should NOT suggest migration (processor config exists)
result = DataProcessorPipeline._should_suggest_migration(tmp_path)
assert not result
def test_should_suggest_migration_with_empty_processor_config():
"""Test that migration is NOT suggested when empty processor config exists."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create an empty processor config
empty_processor_config = {
"name": "EmptyProcessor",
"steps": [], # Empty steps is valid
}
with open(tmp_path / "empty_processor.json", "w") as f:
json.dump(empty_processor_config, f)
# Should NOT suggest migration (processor config exists, even if empty)
result = DataProcessorPipeline._should_suggest_migration(tmp_path)
assert not result
def test_should_suggest_migration_with_model_config_only():
"""Test that migration IS suggested when only model config exists."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create a model config (like old LeRobot format)
model_config = {
"type": "act",
"input_features": {OBS_STATE: {"shape": [7]}},
"output_features": {ACTION: {"shape": [7]}},
"hidden_dim": 256,
"n_obs_steps": 1,
"n_action_steps": 1,
}
with open(tmp_path / "config.json", "w") as f:
json.dump(model_config, f)
# SHOULD suggest migration (model config exists but no processor)
result = DataProcessorPipeline._should_suggest_migration(tmp_path)
assert result
def test_should_suggest_migration_no_json_files():
"""Test that migration is NOT suggested when no JSON files exist."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create some non-JSON files
with open(tmp_path / "model.safetensors", "w") as f:
f.write("fake model data")
with open(tmp_path / "README.md", "w") as f:
f.write("# Model README")
# Should NOT suggest migration (no JSON files)
result = DataProcessorPipeline._should_suggest_migration(tmp_path)
assert not result
def test_should_suggest_migration_random_json_files():
"""Test that migration IS suggested when JSON files exist but none are processor configs."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create some random JSON file (not a processor config)
random_config = {"some_field": "some_value", "another_field": 123}
with open(tmp_path / "random.json", "w") as f:
json.dump(random_config, f)
# SHOULD suggest migration (JSON files exist but none are processor configs)
result = DataProcessorPipeline._should_suggest_migration(tmp_path)
assert result
def test_should_suggest_migration_mixed_configs():
"""Test that migration is NOT suggested when processor config exists alongside other configs."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create both a processor config and a model config
processor_config = {"name": "TestProcessor", "steps": [{"registry_name": "normalize_step"}]}
model_config = {"type": "diffusion", "hidden_dim": 512}
with open(tmp_path / "processor.json", "w") as f:
json.dump(processor_config, f)
with open(tmp_path / "config.json", "w") as f:
json.dump(model_config, f)
# Should NOT suggest migration (processor config exists)
result = DataProcessorPipeline._should_suggest_migration(tmp_path)
assert not result
def test_should_suggest_migration_invalid_json():
"""Test that invalid JSON is handled gracefully."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create an invalid JSON file
with open(tmp_path / "invalid.json", "w") as f:
f.write("{ invalid json")
# Create a valid non-processor config
model_config = {"type": "act"}
with open(tmp_path / "model.json", "w") as f:
json.dump(model_config, f)
# SHOULD suggest migration (invalid JSON is ignored, but we have non-processor JSON)
result = DataProcessorPipeline._should_suggest_migration(tmp_path)
assert result
def test_from_pretrained_multiple_json_files_migration_error():
"""Test that multiple JSON files trigger ProcessorMigrationError."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create multiple non-processor configs
model_config = {"type": "act", "hidden_dim": 128}
train_config = {"batch_size": 32, "lr": 0.001}
with open(tmp_path / "config.json", "w") as f:
json.dump(model_config, f)
with open(tmp_path / "train_config.json", "w") as f:
json.dump(train_config, f)
# Should raise ProcessorMigrationError
with pytest.raises(ProcessorMigrationError) as exc_info:
DataProcessorPipeline.from_pretrained(tmp_path, config_filename="config.json")
# Check the error details
error = exc_info.value
assert str(tmp_path) in str(error.model_path)
assert "migrate_policy_normalization.py" in error.migration_command
assert "not a valid processor configuration" in error.original_error
def test_from_pretrained_no_processor_config_migration_error():
"""Test that missing processor config triggers ProcessorMigrationError."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create a model config but no processor
model_config = {"type": "diffusion", "hidden_dim": 256}
with open(tmp_path / "config.json", "w") as f:
json.dump(model_config, f)
# Should raise ProcessorMigrationError
with pytest.raises(ProcessorMigrationError) as exc_info:
DataProcessorPipeline.from_pretrained(tmp_path, config_filename="config.json")
# Check the error details
error = exc_info.value
assert str(tmp_path) in str(error.model_path)
assert "migrate_policy_normalization.py" in error.migration_command
assert "not a valid processor configuration" in error.original_error
def test_from_pretrained_valid_processor_no_migration_error():
"""Test that valid processor config does NOT trigger migration error."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create a valid processor config
processor_config = {
"name": "TestProcessor",
"steps": [], # Empty is valid
}
with open(tmp_path / "processor.json", "w") as f:
json.dump(processor_config, f)
# Should succeed and create pipeline
pipeline = DataProcessorPipeline.from_pretrained(tmp_path, config_filename="processor.json")
assert pipeline is not None
assert pipeline.name == "TestProcessor"
assert len(pipeline) == 0
def test_from_pretrained_no_json_files_no_migration_error():
"""Test that directories with no JSON files don't trigger migration errors."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create some non-JSON files
with open(tmp_path / "model.safetensors", "w") as f:
f.write("fake model data")
# Should raise FileNotFoundError (config file not found)
with pytest.raises(FileNotFoundError, match="not found in directory"):
DataProcessorPipeline.from_pretrained(tmp_path, config_filename="processor.json")
def test_processor_migration_error_creation():
"""Test that ProcessorMigrationError is created correctly."""
model_path = "/path/to/model"
migration_command = "python migrate.py --path /path/to/model"
original_error = "Config not found"
error = ProcessorMigrationError(model_path, migration_command, original_error)
assert error.model_path == model_path
assert error.migration_command == migration_command
assert error.original_error == original_error
assert model_path in str(error)
assert migration_command in str(error)
assert original_error in str(error)
def test_processor_migration_error_attributes():
"""Test that ProcessorMigrationError has correct attributes."""
model_path = Path("/test/path")
migration_command = "python test.py"
original_error = "Test error"
error = ProcessorMigrationError(model_path, migration_command, original_error)
# Test that attributes are accessible
assert hasattr(error, "model_path")
assert hasattr(error, "migration_command")
assert hasattr(error, "original_error")
# Test that it's still an Exception
assert isinstance(error, Exception)
def test_migration_suggestion_raises_error():
"""Test that migration suggestion always raises ProcessorMigrationError."""
with pytest.raises(ProcessorMigrationError) as exc_info:
DataProcessorPipeline._suggest_processor_migration("/test/path", "Test error")
error = exc_info.value
assert "/test/path" in str(error.model_path)
assert "Test error" in error.original_error
assert "migrate_policy_normalization.py" in error.migration_command
def test_migration_error_always_raised_for_invalid_configs():
"""Test that ProcessorMigrationError is always raised for invalid configs."""
with tempfile.TemporaryDirectory() as tmp_dir:
tmp_path = Path(tmp_dir)
# Create a model config
model_config = {"type": "test", "param": "value"}
with open(tmp_path / "config.json", "w") as f:
json.dump(model_config, f)
# Should always raise ProcessorMigrationError
with pytest.raises(ProcessorMigrationError):
DataProcessorPipeline.from_pretrained(tmp_path, config_filename="config.json")
|